The invention discloses a manipulator joint angle measurement system, a platform and a measurement method, and relates to the field of angle sensing. The measurement system comprises a plurality of measurement units which are fixedly connected with a measured object, wherein each measurement unit comprises an accelerated speed-angular speed-magnetic field sensors, a plurality of chip resistors, afilter circuit, a printed circuit board and an FPC flat cable component; the sensors, the resistors, the filter circuits and the FPC flat cable component are arranged on the printed circuit board; andthe printed circuit board is supplied with power and communicates with the external part through the FPC flat cable component. According to the measurement units, magnetic field and gravity field data is read; and through data fitting, calibration and calculation, angles between every two measurement units are obtained. The measurement system can be mounted at most of positions of measured joints, so that the problem of mutual interference between traditional angle sensing devices and devices such as motors and bearings during mounting is avoided, the complexity and mechanical design difficulty of sensing systems are reduced, manipulators are simple in structure and better in reliability, the measurement cost is reduced and the volume of the measurement system is decreased.