Navigation method for agricultural machinery, agricultural machinery, and a navigation device

The present invention provides a method of navigation agricultural machinery, agricultural machinery, and a navigation device, wherein the navigation method agricultural machinery comprising: obtaining by one or more sensors comprises a positioning information of the position coordinates of agricultural machinery, speed and heading information; The agricultural machinery kinematic model and the minimum time optimal control theory problem of calculating the expected path to obtain information of two agricultural machinery; infinitely adjustable design guidelines for the two kinematic model of agricultural machinery and the terminal time tracking path tracking design optimal controller; the location information of the agricultural machinery and the expected path route information acquisition error; optimal tracking controller acquires path information sent to adjust the automatic steering system according to the path information and the path error. Embodiments of the present invention further provides a navigation device having the above agricultural machinery, and agricultural machinery navigation device. The above-described method, device and apparatus capable of improving the accuracy of navigation.