Aiming at the demand of integrated measurement of nearshore water and underwater topography, the measurement system of USV (Unmanned Surface Vehicle) is studied. Focus on solving the key technologies such as compatibility of integrated measurement system of USV for above-water and underwater nearshore topography, multi-source equipment integration, synchronous control of navigation measurement, multi-source data fusion and splicing, and complete the exploration of integrated measurement system design, the research of autonomous motion control technology and the technical realization of integrated measurement system. Based on the designed integrated measurement system, an integrated comprehensive measurement experiment was carried out in a certain area of Songhua Lake. After the calibration of multi-beam bathymeter and laser scanner, the experimental verification was completed based on the design guarantee of autonomous motion control technology of the integrated measurement system that met the constraints of measurement specifications. The experiment shows that the measurement system is feasible, and the test results show that the measurement data of the integrated measurement system designed meet the relevant measurement specifications, which can be popularized and applied.