In order to improve the regularity, safety and stability of local dynamic obstacle avoidance for Unmanned Surface Vehicle(USV), a local dynamic obstacle avoidance method based on drift angle estimation is introduced.Firstly, the velocity space of Dynamic Window Approach(DWA) is selected according to the International Regulations for Preventing Collisions at Sea(COLREGS).Secondly, the collision-free predicted trajectory is selected based on the predicted movement state of the obstacles.Finally, considering the ocean disturbance, the lateral position error is used to estimate and compensate for the drift angle.The simulation experiment results verify the effectiveness of the method.