Aiming at the application of controller area network (CAN) bus in the field of embedded software, a dual redundant CAN data acquisition device based on HWD32F429 is designed. The Device uses a domestic chip HWD32F429 as its core processor, and its main peripherals include a CAN-bus interface chip JM3062W, a FLASH memory chip SM25QH256M, a temperature sensor NST175, and a serial transceiver GLb2582C. It adapts FreeRTOS real-time operating system as the software platform of the data acquisition device, completes the data transmission and processing of CAN bus, and prompts and warns the errors in the running system through the indicator light. The node failure rate and node data loss rate caused by the increase of data nodes are reduced by the design of the software. The results show that the device can be used in military vehicle and ship monitoring systems with high reliability requirements.