The present invention provides a full-azimuth irradiation tracking method, a detection apparatus, and a solar tracker. The method comprises: acquiring a multi-azimuth irradiation data combination in a full-azimuth irradiation tracking mode; calculating a target tracking angle with a maximum irradiation amount among a plurality of azimuths according to the multi-azimuth irradiation data combination, and rotating the solar tracker according to the target tracking angle; collecting irradiation data at a position reached after the solar tracker is rotated, and calculating and analyzing whether the solar tracker is rotated and reaches a target position corresponding to the target tracking angle; and when the solar tracker is rotated and reaches the target position corresponding to the target tracking angle, controlling the solar tracker to maintain for a preset time at the target position. By means of the described solution, the multi-azimuth irradiation data combination can be obtained in the full-azimuth irradiation tracking mode, and an optimal tracking angle can be obtained by analyzing and determining, so that the solar tracker obtains the maximum irradiation amount and maintains for the preset time, thereby being able to increase a power generation amount.