The performance and reliability of underwater acoustic sensor must be tested by a lot of experiments both during the development process and before actual application installed. According to the test requirements, this paper designed the five degrees of freedom precision displacement experimental device which can mount underwater acoustic sensor to complete the process of testing with achieving full coverage in the experimental tank in three linear and two rotational directions. This paper introduces a new engineering measurement method that can quickly detect the location error of screw hysteresis and overcomes the hysteresis error by software compensation. Ultimately, the works of calibration and error detection for the experimental equipment have been completed with laser tracker to ensure the accuracy of the relative position of sensors in the process of testing.