An agricultural machine, the agricultural machine comprising: a left frame (60, 64); a left wheel being rotatable with respect to the left frame (60, 64); a first leg extending upward from the left frame (60, 64); a right frame (58, 62); a right wheel being rotatable with respect to the right frame (58, 62); a second leg support extending upward from the right frame (58, 62); a beam connecting the first leg to the second leg; one or more satellite navigation receivers (22, 24) associated with the beam to determine a reference point position on the beam and an attitude or angular orientation of the beam; at least one row unit (63, 65) suspended from the beam, each row unit (63, 65) having a first nozzle and a second nozzle, wherein the first nozzle and the second nozzle are associated with an adjustable reference position in one or more dimensions with respect to the beam, a manifold comprising a first electrohydraulic valve for controlling a flow of crop input emitted from the first nozzle, the manifold comprising a second electrohydraulic valve for controlling a flow of crop input emitted from the second nozzle, characterized in that an electronic data processor or mission planning module is configured to provide a control signal to the first electrohydraulic valve and the second electrohydraulic valve to control flow of crop input emitted from the first nozzle and the second nozzle, respectively, in accordance with a mission plan, spraying plan, or agronomic prescription, wherein the one or more satellite navigation receivers (22, 24) comprise a first satellite navigation receiver on a first end of the beam, wherein the first satellite navigation receiver determines a first position; a second satellite navigation receiver on a second end of the beam opposite the first end, wherein the second satellite receiver determines a second position simultaneously with the determination of the first position; and an electronic data processor for estimating the reference point associated with the beam of the machine and an angular orientation or attitude of the beam relative to the reference point, and that the mission plan, spraying plan or agronomic prescription comprises a set of spraying parameters versus position of the sprayer row unit (63, 65) in the field based upon a position provided by the first location-determining receiver (22, 24) and the second location determining receiver (22, 24). a left frame (60, 64); a left wheel being rotatable with respect to the left frame (60, 64); a first leg extending upward from the left frame (60, 64); a right frame (58, 62); a right wheel being rotatable with respect to the right frame (58, 62); a second leg support extending upward from the right frame (58, 62); a beam connecting the first leg to the second leg; one or more satellite navigation receivers (22, 24) associated with the beam to determine a reference point position on the beam and an attitude or angular orientation of the beam; at least one row unit (63, 65) suspended from the beam, each row unit (63, 65) having a first nozzle and a second nozzle, wherein the first nozzle and the second nozzle are associated with an adjustable reference position in one or more dimensions with respect to the beam, a manifold comprising a first electrohydraulic valve for controlling a flow of crop input emitted from the first nozzle, the manifold comprising a second electrohydraulic valve for controlling a flow of crop input emitted from the second nozzle, characterized in that an electronic data processor or mission planning module is configured to provide a control signal to the first electrohydraulic valve and the second electrohydraulic valve to control flow of crop input emitted from the first nozzle and the second nozzle, respectively, in accordance with a mission plan, spraying plan, or agronomic prescription, wherein the one or more satellite navigation receivers (22, 24) comprise a first satellite navigation receiver on a first end of the beam, wherein the first satellite navigation receiver determines a first position; a second satellite navigation receiver on a second end of the beam opposite the first end, wherein the second satellite receiver determines a second position simultaneously with the determination of the first position; and an electronic data processor for estimating the reference point associated with the beam of the machine and an angular orientation or attitude of the beam relative to the reference point, and that the mission plan, spraying plan or agronomic prescription comprises a set of spraying parameters versus position of the sprayer row unit (63, 65) in the field based upon a position provided by the first location-determining receiver (22, 24) and the second location determining receiver (22, 24).