## Methods
### Design of Unmanned Agricultural Machine Operation under Improved Fuzzy Adaptive Algorithm
#### 3.1.2 Design of Automatic Driving Operation Control System of Agricultural Machine  
When the agricultural machine carries out an unmanned operation, it needs to be equipped with corresponding sensors, main controllers, execution parts, and other systems, in which the sensors and main controllers mainly analyse the vehicle's operation information and control instructions, including the positioning information, heading and attitude, steering, acceleration and deceleration, etc., and the operation execution parts and terminal system mainly carry out the execution of the received instruction information and interactive control [26]. In the automatic navigation and operation monitoring system of agricultural machinery, the five key components include the perception information system, the trajectory design system, the dynamic control system, the operation monitoring system, and the remote control system. This research selected the Shanghai Shidar 2 BDXZ-12 CP (20) rice hole live broadcast machine as the research object. Its sowing method is pit eye seeding and natural drop seeding, and the sowing part is hydraulic. It can choose different rows and bottom plate structures according to the needs of the rice varieties, and its combination with different power units (Y-type or I-type) can adjust the hole distance. Combined with a synchronous side fertilisation device and an unmanned driving system, it can further improve the mechanisation of agricultural sowing. The architectural idea of its overall scheme is shown in Figure 5.  
In Figure 5, the perception information system is mainly a sensor system, and the sensor device is responsible for providing necessary information about the vehicle's position, attitude, and front wheel steering angle for the control system as reference feedback. The sensor system includes positioning sensors (differential positioning (RTK-GNSS) devices), vehicle inclination sensors (inclination sensors based on accelerometer and gyroscope integration), and angle sensors (DWQT-RS485-G-360-38 model sensors). The responsibility of the core control unit is to process the data from the sensor devices and the feedback from the power actuator units and to calculate the required amount of action of each power actuator unit according to the control algorithm. The calculated action quantity is transmitted to the subsystem of each power actuator unit via a bus or serial bus. The power actuator  
Figure 5: Overall architecture diagram of unmanned driving and operation control system for agricultural machinery. unit mainly consists of three parts: steering control, throttle control, and operation mode switching, which are responsible for manipulating the steering wheel, throttle, and operation mode selector, respectively. Each power actuator unit is equipped with an exclusive underlying controller, which drives the corresponding mechanical components according to the received control signals to achieve the functions of steering adjustment, throttle position adjustment, and operation mode switching [27]. The user operation management interface mainly realises the functions of remote monitoring of the state of the agricultural machine, setting operation parameters, and sending core control commands, etc., and it can exchange data with the main controller in the automatic planning of parameters. In the positioning sensing part, the traditional position estimation method based on the global positioning system is easily affected by external environment obstruction and leads to the generation of error results. Although magnetic induction positioning can avoid being affected by obstacles, light, and weather and other disturbances, it relies heavily on the deployment of the magnetic nails, which is only limited to specific places; inertial navigation, in the process of positioning calculations, has an accumulation of errors, which need to be calibrated with the help of the global positioning [28; 29].