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Unmanned Surface Vehicle is an intelligent platform for marine equipment, having the characteristics of fast speed, high mobility and high degree of automation. It can perform a variety of dangerous and not suitable for personnel missions. Course control is not only essential to the security and economy of the navigation, but also the basis for unmanned driving. In order to achieve automatic control of course, unmanned boat model is identified firstly. Model is the basis of control, and the control effect good or bad is not only related with the control strategy and more about the accuracy of the model. To improve the accuracy of the model, collecting the data of z test and rotation test in the primary sea condition, the model is identified by Recursive Least Squares. To further verify the correctness of the model, simulation tests are compared with the actual data. Nonlinear course controller is designed by backstepping method and the stability of the system is proved by Lyapunov function. Simulation results show that the actual course of system can track the target course quickly and The controller has good dynamic and static characteristics and robustness.