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Unmanned ships have broad application prospects and market value for protecting the marine environment and developing the marine resources. Miniature unmanned ships have the advantages of low cost, flexible mobility, easy to carry and easy to carry out experiments; Micro unmanned ship can not only be used for marine environmental monitoring, but also become a communication relay platform. This paper has designed a kind of micro unmanned ship control system based on ARM, at the same time designed the control system hardware and software, and verify the validity and practicability of the control system by the tank experiment results. In addition, for unmanned ship heading control in the presence of wind, wave and current hybrid interference, a fuzzy PD control algorithm has been put forward, combined with the fuzzy control technology and traditional PID control technology; the PD control parameters online adaptive optimization and adjustment has been realized; the corresponding pool experiments and the traditional PD control algorithm comparative analysis have been finished.