Abstract: Real-time ground speed measurement is an indispensable function of intelligent equipment for precision agriculture. The objective of this work was to evaluate the performance of different ground speed measurements under farm field conditions. Doppler radar, Hall Effect sensor, RTK-GPS, RTD-GPS and low-cost GPS were adopted for ground speed test on the surface conditions of vegetative cover with wheat, tilled soil, untilled soil and concrete floor. Results showed that speed deviations of RTD-GPS and RTK-GPS measurements were relatively high compared to other speed sensors, and ground speed measurements of low-cost GPS, radar and Hall Effect sensor were in close agreement with average speed under different conditions. While acceleration and deceleration speed test cases indicated that low-cost GPS has relatively higher error and obvious latency compared to other sensors. Based on the field experiments and result analysis, low-cost GPS and Hall Effect sensor can be used as effective method for precision agriculture intelligent equipment ground speed measurement under normal dry farmland.