The invention discloses a filling continuous compaction acoustic wave detection system. Based on a rolling machine, detection equipment comprises a sound field pickup, an analyzing and processing module, a displayer, a GPS receiver and the like. When a filling layer is rolled, an acoustic wave field time domain signals generated near a rolling layer are received by the sound field pickup which isarranged on an eternal machine frame of a vibrating drum of a road roller and are sampled to form acoustic wave field digital signals; meanwhile, the GPS receiver provides spatial signals related to the rolled position, the sampled acoustic wave signals are filtered and spectrally analyzed to obtain secondary harmonic amplitudes of the effective acoustic signals, a continuous compaction degree index value is established according to the relevance between the secondary harmonic amplitudes and an earth-rock material compaction degree, and combined with GPS spatial position information, a time-space compaction degree distribution diagram of a rolled area is shown on the machine-mounted displayer. The filling continuous compaction acoustic wave detection system disclosed by the invention has the characteristics of non contact, continuity, real timeliness, suitable for filling engineering continuous compaction quality control and the like. A vibrating frequency and a vibrating amplitude ofthe vibrating drum of the road roller are controlled by compaction feedback, so that an intelligent continuous compaction function can be easily achieved.