A hook attitude detecting device, comprising: an angle measuring instrument, configured to obtain an angle between a coordinate axis of a second coordinate system and a corresponding coordinate axis of a first coordinate system in real time; an acceleration measuring meter configured to obtain an acceleration of a hook in a predetermined direction in real time, there being a predetermined angle between the predetermined direction and the coordinate axis of the second coordinate system; a processor configured to establish the first coordinate system and the second coordinate system, wherein the first coordinate system is fixed relative to a predetermined position and the second coordinate system is fixed relative to the hook, the coordinate axis of the first coordinate system corresponds to the coordinate axis of the second coordinate system; and attitude parameters of the hook in the first coordinate system are obtained from the angle obtained by the angle measuring instrument and the acceleration obtained by the acceleration measuring meter; characterized in that it further comprises an output device configured to output the attitude parameters, wherein the first coordinate system is a rectangular coordinate system comprising a X1 axis, a Y1 axis and a Z1 axis, and the second coordinate system is a rectangular coordinate system comprising a X2 axis, a Y2 axis and a Z2 axis, with the X1 axis, the Y1 axis and the Z1 axis respectively corresponding to the X2 axis, the Y2 axis and the Z2 axis, wherein the angle measuring instrument is a triaxial angle measuring instrument, and there are predetermined angles between axes of three measuring shafts of the triaxial angle measuring instrument and the three coordinate axes of the second coordinate system, respectively, wherein the acceleration measuring meter is a triaxial acceleration measuring meter, and there are predetermined angles between axes of three measuring shafts of the triaxial acceleration measuring meter and the three coordinate axes of the second coordinate system, respectively. an angle measuring instrument, configured to obtain an angle between a coordinate axis of a second coordinate system and a corresponding coordinate axis of a first coordinate system in real time; an acceleration measuring meter configured to obtain an acceleration of a hook in a predetermined direction in real time, there being a predetermined angle between the predetermined direction and the coordinate axis of the second coordinate system; a processor configured to establish the first coordinate system and the second coordinate system, wherein the first coordinate system is fixed relative to a predetermined position and the second coordinate system is fixed relative to the hook, the coordinate axis of the first coordinate system corresponds to the coordinate axis of the second coordinate system; and attitude parameters of the hook in the first coordinate system are obtained from the angle obtained by the angle measuring instrument and the acceleration obtained by the acceleration measuring meter; characterized in that it further comprises an output device configured to output the attitude parameters, wherein the first coordinate system is a rectangular coordinate system comprising a X1 axis, a Y1 axis and a Z1 axis, and the second coordinate system is a rectangular coordinate system comprising a X2 axis, a Y2 axis and a Z2 axis, with the X1 axis, the Y1 axis and the Z1 axis respectively corresponding to the X2 axis, the Y2 axis and the Z2 axis, wherein the angle measuring instrument is a triaxial angle measuring instrument, and there are predetermined angles between axes of three measuring shafts of the triaxial angle measuring instrument and the three coordinate axes of the second coordinate system, respectively, wherein the acceleration measuring meter is a triaxial acceleration measuring meter, and there are predetermined angles between axes of three measuring shafts of the triaxial acceleration measuring meter and the three coordinate axes of the second coordinate system, respectively.