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In order to improve the course control accuracy of unmanned surface vehicle (USV), a course control system based on improved active disturbance rejection control (ADRC) is proposed in this paper. The course controller designed in this paper can realize automatic course maintenance and achieve good stability of USV. The extended state observer of ADRC is used to estimate the unknown disturbance in real time and give appropriate compensation. It is difficult to set the ADRC parameters, so firefly algorithm (FA) is introduced into the ADRC algorithm to realize the self-setting of nonlinear feedback control law parameters. The simulation results show that the course control system designed in this paper can achieve precise control of the USV’s course and the system is robust.