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The invention belongs to the technical field of power information data collaborative modulation, and relates to a power information collaborative modulation method based on reference signal multi-degree-of-freedom modulation, which comprises the following steps of: decomposing serial input information data of a sending end into three paths of parallel sub-data, and respectively mapping the three paths of parallel sub-data into three independent modulation parameters, namely phase, frequency and amplitude, of a square wave signal; generating modulated rear wave signals, wherein different modulated rear wave signals correspond to different phase, frequency and amplitude parameter combinations; superposing the modulated rear wave signal to a reference signal to generate a gate-level signal, controlling a switch to act through the gate-level signal, and embedding information data into an output voltage ripple; at a receiving end, carrying out signal conditioning on the output voltage to obtain a conditioned ripple signal containing information data; and demodulating the conditioned ripple signal by adopting a sliding discrete Fourier transform algorithm to obtain transmitted information data. The time synchronization is high, and the anti-interference performance of the system is high.