A three-axis control antenna device, comprising: - a vertical axis for azimuth angle tracking, supported by a base and rotatable in relation to the base around a vertical line; - a horizontal axis for elevation angle tracking, attached to the vertical axis and rotatable in relation to the vertical axis around a line orthogonal to the vertical axis in a half rotation; - a cross horizontal axis attached to the horizontal axis and rotatable in relation to the horizontal axis, within an angle range smaller than the rotation angle of the horizontal axis, around an axis orthogonal to the horizontal axis; - an antenna attached to the cross horizontal axis; - a vertical axis servo controller, a horizontal axis servo controller, and a cross horizontal axis servo controller adapted to drive and control the vertical axis, the horizontal axis, and the cross horizontal axis, respectively; and - an arithmetic processing controller adapted to generate drive signals for the vertical axis servo controller, the horizontal axis servo controller, and the cross horizontal axis servo controller, and provide the drive signals to perform tracking control in real time so that a beam direction of the antenna aligns with a direction of a target object, wherein the arithmetic processing controller is adapted to generate, when a maximum elevation angle of the antenna in a path of the target object is greater than or equal to a set elevation angle in a single time of continuous tracking, a drive signal for the vertical axis servo controller, the drive signal of a constant azimuth angle determined from the path of the target object, and when the maximum elevation angle of the antenna in the path of the target object is less than the set elevation angle in the single time of continuous tracking, the arithmetic processing controller is adapted to generate a drive signal for the vertical axis servo controller, the drive signal of an azimuth angle of the target object, and characterized in that the azimuth angle determined from the path of the target object is the azimuth angle that is parallel to the path of the target object. - a vertical axis for azimuth angle tracking, supported by a base and rotatable in relation to the base around a vertical line; - a horizontal axis for elevation angle tracking, attached to the vertical axis and rotatable in relation to the vertical axis around a line orthogonal to the vertical axis in a half rotation; - a cross horizontal axis attached to the horizontal axis and rotatable in relation to the horizontal axis, within an angle range smaller than the rotation angle of the horizontal axis, around an axis orthogonal to the horizontal axis; - an antenna attached to the cross horizontal axis; - a vertical axis servo controller, a horizontal axis servo controller, and a cross horizontal axis servo controller adapted to drive and control the vertical axis, the horizontal axis, and the cross horizontal axis, respectively; and - an arithmetic processing controller adapted to generate drive signals for the vertical axis servo controller, the horizontal axis servo controller, and the cross horizontal axis servo controller, and provide the drive signals to perform tracking control in real time so that a beam direction of the antenna aligns with a direction of a target object, wherein