0.18m以内。A velocity adaptive navigation controller was designed. On the harvester vision navigation experimental platform, a double closed-loop control structure, which used PD control mode, was put forward and the navigational deviation was set up according to the deviation of the heading angle and lateral position of the structure. The relationships between the control parameters of the control gain K and the control period T, and the harvester speed v were experimentally obtained. The computing method of inner closed loop control was given based on the method of one dynamic calibration for the rear wheel at mid-position-voltage. The test results on road and in wheat field showed that the combine harvester could trace the navigation line at different speeds, and on the road, the maximal tracing error was 0.05m. In wheat fields, the change of harvesting width was in 0.18m during the working speed.