Abstract: Abstract: The development of irrigation machinery is one of main factors to promote the improvement of agricultural production. To conserve and save energy and water, as well as to improve irrigation water use and land-use efficiency, a solar-powered linear move sprinkler machine based on global positioning system (GPS) navigation was developed in this study. Solar energy technology, water-saving irrigation technology and GPS navigation technology were researched and integrated on this sprinkler machine. As a platform, with the development of the solar-powered linear move sprinkler machine, the solar technology was integrated with sprinkler irrigation technology .To meet the demand of machine's tracking along fixed route, the navigation control system was designed and developed. The entire unit was powered by solar PV modules and batteries and driven by DC motor. The 4-wheel differential steering was adopted to control the direction. GPS and electronic compass were used as the navigation sensors to obtain the navigation information (position, course) of the solar-powered linear move sprinkler machine in real time. The lateral deviation and the deviation of the distance from the predetermined path were calculated by comparing with the predetermined navigation path, with solar-powered linear move sprinkler machine lateral deviation error and heading error being input variables and DC motor pulse width modulation (PWM) speed regulating voltage increment being output variables, A navigation controller was built based on linear proportional control to realize the wheel speed regulating control of both sides of sprinkler machine. According to the output of the navigation controller, the theoretical speeds of the wheel speed on both sides were calculated, and the difference between the theoretical and the actual speed of the current wheel was used as the input of the speed controller in order to realize the adjustment and control of the wheel speed on both sides of the sprinkler machine, and then realize the path tracking control of the sprinkler. The navigation control system was based on 32 bit ARM (advanced RISC machine) microcontroller STM32F103 chip as the core, and integrated navigation controller, speed steering controller, GPS, electronic compass and speed sensors. By comparing with the predetermined navigation reference line, the lateral deviation error and heading error of solar-powered linear move sprinkler machine were obtained. Controller area network (CAN) bus structure was adopted as the communication structure to achieve the autonomous navigation control of the solar-powered linear move sprinkler machine in the whole system. The path tracking experiments were operated and completed in Institute of Water Saving Agriculture in Arid Areas of China, Northwest A&F University (34°17?50??N, 108°04?6??E) in which the platform of the solar-powered linear move sprinkler machine based on GPS navigation was the research object on April 21, 2015. During the experiments, the running track of the solar-powered linear move sprinkler machine was recorded by a drop of water, and the walking deviation of a walking path and a predetermined path were measured every 30 cm. The results of path tracking experiments showed that the solar-powered linear move sprinkler machine automatic navigation control system could basically meet the irrigation requirements, and realized route trace well. In the process of a 30 m straight line tracking, the maximum lateral deviation was 17.3 cm and 18.4 cm at the speed of 0.4 and 0.8 m/min, showing a high reliability and stability. At last, the research above not only provides important information on the realization of the combination of agricultural machinery and solar energy technology, but also was the basis for the development of similar self-walking sprinkler irrigation machine.