The UAV wireless charging system adopts the DD type transmitting coil to effectively reduce the magnetic leakage, but only generates a horizontal magnetic field in one direction, which requires high docking accuracy of the UAV, low degree of freedom, and complicated control. This paper proposes a magnetic integrated design scheme for the transmitter. The transmitter coil is composed of two sets of DD coils on the top and bottom and left and right to generate magnetic fields in both X and Y directions. The compensation coil is wound into a unipolar square in the middle to achieve Decoupling and integrated design. First, the reliability of the magnetic integrated design is verified based on the COMSOL simulation software. The simulation proves that the designed transmitter can provide power for multiple coupling mechanisms with multiple degrees of freedom. Secondly, the output characteristics of the system are designed and analyzed. Finally, an unmanned aerial vehicle wireless charging system was built for verification. The results show that the designed system can provide multi-degree-of-freedom power supply for horizontal solenoid-type coils and vertical square coils.