Abstract: Main structure and working principle of center-lateral irrigation machine based on BDS were analyzed.Walking mathematical model of center-lateral irrigation machine was constructed.Based on the model and some key problems in navigation and walking control，walking control model for position monitoring，center-lateral conversion，walking navigation and unit attitude control of center-lateral irrigation machine with BDS-RTK was constructed.A prototype machine was designed and produced.Walking test was carried out.Test results showed that positions transition was accurate.Movement of unit walking navigation and attitude adjustment action was reasonable.Accuracy of tire tread track was less than ±15cm.Walking accuracy was to meet actual agricultural production needs.It was also verified that walking control model was correct and effective.Research and application of center-lateral irrigation machine based on the BDS was significant to improve utilization rate of farmland，promote intellectualization of agricultural machinery and promote precision agriculture.