Objectives A simple and rapid method for obtaining the empirical model of the propulsion system of Unmanned Surface Vehicles (USV) is presented.

Methods Based on the theoretical model, the motion data of USV is obtained by zigzag manoeuvre tests, steady turning motion tests and engine stable speed tests. The development platform based on Simulink Project is built to estimate, identify and compare the key parameters of the propulsion system, and then the empirical model of propulsion system is obtained.

Results It is proved that the propulsion system model obtained through this method is correct and reasonable.

Conclusions The research can lay a foundation for the development of the control system of USV.