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Aimed at the needs of the data acquisition module for sensors on-board, such as small volume, high reliability, good real-time performance, a data acquisition module is designed based on the embedded real-time operating system μC/OS-Ⅱ. The Cortex-M3 core chip-STM32F107VCT6 with ADC, CAN communication and other peripherals is selected and the embedded real-time operating system is adopted to simply the design of software and improve reliability, good real-time performance. The data acquisition module can send the acquired data to the master computer by CAN bus and store them in the SD card via FatFs file system at the same time, which makes it easy for PC to read and process the data off-line. The anti-jamming capability and sampling precision are improved by optimizing the circuit design and the use of digital filtering algorithms. By experimental verification, the data acquisition module can acquire and send the sensor data accurately and timely, with high reliability and real-time performance.