Debugging data output method and related device

The embodiment of the invention provides a debugging data output method and a related device, and relates to the field of vehicle-mounted integrated navigation. Adding the obtained debugging data to a buffer area by the vehicle-mounted integrated navigation equipment; judging whether the debugging data in the buffer area meets a preset data sending condition or not; and if the data transmission condition is met, packaging the debugging data in the buffer area according to a preset data transmission protocol, generating a debugging message, and transmitting the debugging message to the receiving equipment through a CANFD bus, so that the acquisition equipment acquires the debugging message. By means of the method, when interfaces such as RS232, RS422 and the vehicle-mounted Ethernet are not additionally arranged in the integrated navigation equipment, debugging data can be obtained during on-site joint debugging without additionally arranging a plurality of cables, the method is simple and convenient, and the