Autonomous Navigation Device of Farmland Operating Machinery Based on Android Platform

In order to realize unmanned automatic operation of farmland operating machinery and reduce labor investment，an automatic navigation device for farmland operating machinery based on Android platform was designed.The device was composed of machinery control module，Android control terminal and Difference Global Positioning System（DGPS）static station.A new path tracking algorithm was embedded in the device.The algorithm drawn a circle in the neighborhood and found intersection of the circle with planning path and determined direction of motion.The algorithm could greatly improve control accuracy of farmland operating machinery.By the field test，it was found that the device had advantages of high precision，low cost and good stability.