Agricultural machine sideslip estimation and compensation method and device and electronic equipment

The invention relates to the technical field of agricultural machinery, and provides an agricultural machinery sideslip estimation and compensation method and device and electronic equipment, and the agricultural machinery sideslip estimation and compensation method comprises the steps: obtaining a track point of an agricultural machinery on a three-dimensional earth surface; acquiring soil characteristic parameters corresponding to the three-dimensional earth surface position of the agricultural machine at the track point; calculating pose data of the agricultural machine at the track point; calculating a sideslip estimated value of each wheel of the agricultural machine at the track point based on the soil characteristic parameters and the wheel parameters of the agricultural machine; and performing sideslip compensation on the agricultural machine at the track point based on the motion direction of the agricultural machine, the track point, the sideslip estimation value and the pose data. The embodiment of