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Aiming at the problem that sensor fault is difficult to detect directly in armored vehicle data acquisition and control system, this paper proposes a method based on wavelet transform to diagnose sensor faults. First, the basic theory of wavelet analysis is introduced, and the principles and advantages and disadvantages of continuous wavelet transform and discrete wavelet transform are expounded; Secondly, the simulation test is carried out by using the Matlab/Simulink model, and the continuous wavelet transform is used to detect the fault of the sensor, and the fault occurrence time is accurately located. Finally, several typical sensor faults are selected, and the simulation results verify the feasibility and accuracy of the method.