Driven　by　issues　such　as　global　warming,　there　is　currently　great　interest　and　significance　in　developing　zero　carbon-emission　internal　combustion　engines.　Limited　by　structural　and　sealing　requirements,　there　are　no　experimental　studies　related　to　combustion　velocity　measurement　of　the　hydrogen-fueled　Wankel　rotary　engine　(HWRE)　with　excellent　power　performance,　which　is　important　to　investigate　its　knock　characteristic.　In　this　work,　a　combustion　velocity　measuring　method　of　dual　spark　plug　HWRE　is　proposed,　besides　the　obtained　combustion,　flow　and　flame　velocities　are　correlated　with　the　knock　to　explore　their　influence　on　the　HWRE　knock　characteristics.　The　study　found　that　adopting　dual　spark　plugs　in　HWRE　is　necessary　to　reduce　the　negative　impact　of　the　flame　not　being　able　to　propagate　against　the　flow　field.　Besides,　excess　air　ratio　affects　the　combustion　velocity　of　HWRE　by　changing　the　flame　velocity,　while　the　engine　speed　affects　the　combustion　velocity　of　HWRE　by　changing　the　flow　velocity,　which　basically　does　not　affect　the　flame　velocity.　The　knock　level　of　HWRE　is　influenced　by　its　flame　velocity　and　flow　velocity,　both　of　which　are　positively　correlated　to　the　knock　intensity　and　the　latter　has　a　more　significant　effect.　©　2022　Elsevier　Ltd