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For the motion law of automatic inspection equipment for repeater station on rigid pavement, the kinematics model of automatic inspection equipment is established, and the dynamic analysis of wheel-ground contact force is carried out, on this basis, the slip ration is estimated by use of Burckhardt model. The simulation experimental data and theoretical experimental data of the automatic inspection equipment were obtained by using ADAMS and MATLAB respectively. The data analysis shows that the error mainly comes from the friction vibration between the tire and the ground. The displacement error between theoretical data and simulation data is less than 0.0154m under the experimental conditions of dry concrete pavement and turning radius of 1.192m. The result indicates that the kinematics model can be used for the prediction of trajectory of skid steering for inspection equipment under rigid pavement conditions. [ABSTRACT FROM AUTHOR]