All-attitude calculation method for holder

The invention discloses an all-attitude calculation method for a holder, and the method comprises the following steps: respectively mounting a first accelerometer and a second accelerometer in the axial direction and the transverse direction of the holder, mounting a single-axis optical fiber gyroscope on a reference plane parallel to the mounting surface of the first accelerometer in the axial direction, and mounting a coded disc in the longitudinal direction of the holder; calculating a tracking pitch angle and a roll angle in real time by using a ratio of an output acceleration mean value to a gravitational acceleration of the first accelerometer and the second accelerometer in a time period, and leveling the holder; rotating the single-axis optical fiber gyroscope to four positions atan interval of 90 degrees by using an indexing mechanism of a cradle head, respectively acquiring gyroscope data of the four positions, and calculating an initial azimuth angle according to an azimuthangle model calculated by the four positions; after the initial azimuth angle is obtained, obtaining the real azimuth angle of the holder according to the coded disc azimuth tracking model by utilizing the angle change value of the coded disc relative to the initial azimuth angle. According to the invention, the pitch angle, roll angle and azimuth angle of the holder can be calculated autonomously in real time.