A full-duplex radio communication device, method and system are provided. A first polarized antenna in a dual-polarized antenna outputs a transmitted signal, and a second polarized antenna acquires a received signal which includes a first transmitted sub-signal that is directly coupled from the first polarized antenna. An analog domain cancellation module acquires a second transmitted sub-signal coupled from the transmitted signal, adjusts an amplitude and a phase parameter of the second transmitted sub-signal to convert the second transmitted sub-signal into a third transmitted sub-signal, eliminates the first transmitted sub-signal according to the third transmitted sub-signal, samples the received signal, from which the first transmitted sub-signal is eliminated, as a first digital signal, samples the second transmitted sub-signal as a second digital signal, and outputs the first digital signal and the second digital signal to a digital domain cancellation module.