Abstract: The production of grain and oil crops in the field has been the basic underpinning of the world. The rice-wheat and rice-oil tanker areas in southern China have been the main production areas of grain and oil crops in the field, with a planting area of up to 4.8 million hectares, providing for 55% of the food supply for the domestic market. Among them, more than 90% of fields are scattered in the individual small lands in the area (0-0.35 hm2) and irregular in shape, which requires convenient and frequent cross-district operations. In addition, the cultivated land in the rice-wheat and rice-oil tanker area is constantly in the process of wet-dry rotation, where the soil viscosity is easy to cause the wheeled agricultural machinery skidding, leading to the low operation quality and crop yield. The long-term use of wheeled agricultural machinery can aggravate the deep mud feet in the fields. Fortunately, the strong mobility of tracked agricultural machinery with the small turning radius and low grounding ratio can greatly contribute to avoiding the formation of plough bottom in the dry land, thus preserving the soil moisture from the drought and the destruction of hard bottom in paddy fields. The normal farming of paddy fields can be expected in the majority of areas, where the seedling emergence rate can still be as high as 80% to 90%. However, the current satellite autonomous navigation can normally be pre-configured the differential base station-building farmland map-planning global operation path, which failed to meet the requirements of convenient cross-area operation in a large number of scattered small fields. It is a high demand for the improvement of production efficiency and the threshold for accessible user friendliness. Ultra wideband (UWB, Ultra Wide Band) positioning and navigation belong to the low-cost and large-scale local navigation, which mainly has two ways: multi-UWB base station positioning navigation (3 or more) and dual UWB base station self-following navigation. However, some technical barriers have been confined to the autonomous navigation of agricultural machinery in the fields. At the same time, many efforts were focused mainly on the steering control during side slip in the autonomous navigation control of tracked agricultural machinery. It is still lacking on the occurrence of side slip to achieve the fast and steady steering at present. The control strategy of path correction planning can be fully considered to combine with the specific steering mechanism of tracked agricultural machinery. In addition, the absent operation in the center can cause the low operation efficiency in the narrow and irregular area of the field ridging, closed ridge, and set walking approach easy to repeat. Taking the tracked agricultural machinery as the research object, this study aims to propose a path tracking control system using fast steady-state steering. Taking the farmland boundary layout with the short-range UWB communication base station group as the reference path, the error self-diagnosis UWB navigation system was designed to achieve the high-precision and convenient autonomous navigation in small plots. The selection and optimization show that the best critical distance was 10 m from the farmland boundary to arrange the parallel agricultural machinery target operation path of the double UWB base stations outside the farmland. The static correction test showed that the tracking control error of the fast steady-state steering pat correction controller was less than 1 cm, with a coefficient of variation of less than 5%, whereas, the path correction time was less than 1 s, with the coefficient of variation of less than 3%. The dynamic correction test showed that the linear operation accuracy error of medium and low operating speed was less than 8 cm, and the linear working accuracy decreased slightly, with the increase of operating speed, but the linear operating accuracy error was not greater than 10 cm, with the coefficient of variation was less than 5%. Therefore, the error self-diagnosis UWB navigation system of tracked agricultural machinery in small land presented higher stability and excellent robustness than before, which can meet the needs of autonomous navigation of field agricultural machinery. The finding can provide a strong reference for the high-precision field autonomous navigation.