In the agricultural vehicle navigation system, most frequently used steering feedback sensors are rotary potentiometer and rotary encoder to measure the wheel angle, and linear potentiometer to measure the stretching length of steering cylinder. In practice, these sensors are usually installed a little troublesomely, and often have relatively low reliability because of the more installation fittings. With the progress of MEMS technical, angular velocity meter achieves higher accuracy while the cost is reduced to a quite low level. Moreover, because only need to fixedly connect angular velocity meter to the rotatory part at the time of installation, difficulty of installation was reduced while the reliability was improved at the same time. Because of these advantages, the angular velocity meter is used more widely in the agricultural vehicle navigation system. In most agricultural vehicle navigation systems which use the controller area network (CAN) bus, navigation control framework usually includes a steering controller. The steering controller receives steering angel set value, and controls the agricultural vehicle steers to that angel. In the steering control system which adopted angular velocity meter, if we use steering angle which was simply integrated of the angular velocity as the feedback of the steering algorithm, the steering control precision will reduce a little apparent. This article studies with an angular velocity meter which attached on the top of the kingpin of a tractor, and the angular velocity meter mounts parallel to the plane of the tractor body. Discrete integral calculation of angular velocity was taken with 10Hz, 20Hz, 30Hz-which are the regular sample rate in agricultural vehicle navigation system, then contrast the angles acquired by integration with the real wheel angles which measured by a wheel angle detector, error analysis shows that the integral accuracy increase along with the integral calculation rate. In many cases, for example the limitation of computing power of MCU in the steering controller or the CAN bus communication capability restriction, higher integral calculation rate cannot be achieved, consequently, a double-loop PID steering control algorithm was proposed here. The inner loop employs angular velocity as feedback, it is a velocity control loop; the outer loop uses angle acquired by integration as feedback, it is an angle control loop. The inner loop improves the steering velocity response, and the overall steering control algorithm improves the measuring precision. Based on tractor steering control, contrast to single loop PID steering control algorithm, a comparative test was taken. The comparison indicates that the algorithm this article proposed has a higher precision.