Automatic navigation control of agricultural machinery is the basis of precision agriculture. Realizing automatic navigation operation of agricultural machinery can reduce labor intensity of agricultural machinery operators and improve work efficiency, which has been widely used in various links of agricultural production. Aiming at the problems of the traditional sprayer in the process of turning and wrapping, such as limited turning space, large turning radius and easy rolling of crops, a control method was proposed to realize the wrapping operation by using parallel vehicle movement. A navigation control system for four-wheel steering sprayer was designed based on translation and line feed mode. The control system adopted the positioning module of real time kinematic (RTK) and attitude sensor for integrated navigation. The position information and attitude information of sprayer were taken as input. The automatic navigation and tracking control of non-turn turn line feed of the sprayer was realized by combining the kinematic solution. The automatic operation strategy based on finite state machine was designed according to the requirements of spraying operation. A field comparison test between traditional proportion integration differentiation (PID) controller and single-neuron PID was carried out. In the conventional square hard flat block, the maximum tracking deviation and average absolute deviation of the springer equipped with conventional PID controller in the translation and line wrapping process were 7.63cm and 4.27cm. The maximum tracking deviation and average absolute deviation of the sprayer equipped with single-neuron PID controller in the translation and line feeding process were 6.48cm and 3.24cm. In the conventional square field test plots, the maximum tracking deviation and average absolute deviation of the sprayer equipped with conventional PID controller in the translation and line wrapping process were 11.01cm and 6.66cm. The maximum tracking deviation and average absolute deviation of the sprayer equipped with single-neuron PID controller in the translation and wrapping process were 8.60cm and 4.47cm. The experimental results showed that compared with the traditional controller, the single-neuron PID controller had better control accuracy and adaptability. It solved the problems of inflexible and low land utilization rate due to the large turning radius and large turning space of the traditional line feed mode, and provided a solution for the ground turning and line feed of the wide-width sprayer and provided a reference for the automatic navigation technology of the sprayer.