Six-degree-of-freedom wireless magnetic positioning system, method and device based on soft magnet

The invention discloses a six-degree-of-freedom wireless magnetic positioning system, method and device based on a soft magnet, and the system comprises a magnetic source module which is used for generating an alternating magnetic field; the soft magnet is installed at the tail end of the instrument to be tested, and the instrument to be tested is in rigid connection with the soft magnet, so that stress and torque borne by the soft magnet are transmitted to the instrument to be tested; the soft magnet works in an alternating magnetic field; the magnetic field detection device is used for detecting the magnetic field change caused by the movement of the soft magnet; and the processor is used for measuring the pose of the soft magnet according to the detected magnetic field change, obtaining the pose of the soft magnet and calculating the pose of the tail end of the detected instrument according to the pose of the soft magnet. According to the invention, the soft magnet is used as a passive sensitive element, a