Angular displacement measuring device and method

The invention relates to the technical field of sensing measurement, in particular to an angular displacement measuring device and method. The device comprises a motor rotor, a coding disc, a motor stator and six readers, the coding disc is arranged on the motor rotor, and the six readers are all arranged on the motor stator; a plurality of one-dimensional coding gratings and a plurality of two-dimensional coding patterns are arranged on the cylindrical surface of the coding disc, each one-dimensional coding grating is used for recording precise angle information of the coding disc, and each two-dimensional coding pattern is used for recording rough angle information of the coding disc; the six readers are non-uniformly distributed on the periphery of the coding disc according to preset angle intervals, a probe of each reader is composed of a high-power microscope objective and a multi-row detector, the readers are used for analyzing the one-dimensional coding grating and the two-dimensional coding pattern to