The following problems exist in the cooperative navigation control system of traditional large-scale lateral moving sprinkler irrigation machine, such as easy deviation from the navigation path, poor inter-span walking coordination, and low sprinkler irrigation uniformity. In order to solve the above problems, a distributed cascade cooperative navigation control method was proposed. Based on the establishment of the multi-tower kinematic model of the large-scale sprinkler irrigation machine, combined with the state feedback and PID control, the path navigation control algorithm was designed with the main tower as the master and the cascaded synchronous following control algorithm with the node-tower as the slave. And a collaborative navigation control system was designed and developed based on this method. The real-time attitude of each tower car was obtained through the dual-antenna RTK positioning module, and the control of the movement attitude of each tower car was realized through frequency control technology. Based on the above control methods, a cooperative navigation control system was designed and it was deployed on the developed sprinkler irrigation machine. The navigation control system was installed on the sprinkler irrigation machine, and the sprinkler irrigation machine was modified. A coordinated navigation control test was carried out in Xuchang, Henan. The test results showed that at different navigation speeds, the maximum lateral deviation of the main tower vehicle was within ±3.26cm, and the maximum heading deviation was within ±1.65; the maximum synchronization deviation of the sub-tower vehicle was within ±13.07cm, which met the requirements of autonomous field operations.