A simple analog method could be based on detecting a volt level within a 'window'.
To turn on one sprinkler, send 3V. At the other end is a comparator (or op amp) circuit, made to respond to a signal between 2V and 4V.
To turn on another sprinkler, send 5V. At the other end, have your comparator respond to a signal between 4V and 6V.
This method will not allow you to keep all sprinklers on, if the sprinklers must receive a continual signal. Therefore consider using this addition. After a sprinkler receives a turn-on signal, have it timed to stay on for a minute or two. This method will allow you to send two signals simultaneously (3V and 5V alternating).