The invention discloses a linear positioning method based on a marked 
magnetic source with a permanent 
magnetic dipole moment. The linear positioning method based on the marked 
magnetic source with the permanent 
magnetic dipole moment comprises the steps that a space 
magnetic field is established by means of the marked 
magnetic source which has the vertically upward 
magnetic dipole moment all the time, and the corresponding relation between the 
magnetic flux density distribution intensity and the distances between measurement points and the marked magnetic source is obtained; an xyz rectangular coordinate 
system is established, and the 
magnetic flux density components, at the position of each 
measurement point in the space 
magnetic field, in all the directions of the coordinates are detected, so that the 
magnetic flux density distribution intensity and the distances between the measurement points and the marked magnetic source are obtained; all coordinate values at the position of the marked magnetic source are obtained according to the magnetic flux density components in all the directions of the coordinates and magnetic flux density components detected through a three-axis 
magnetic field measurement sensor based on a marked magnetic source magnetic 
coupling polaron positive model, and thus accurate positioning of a marked object is achieved. According to the linear positioning method based on the marked magnetic source with the permanent magnetic 
dipole moment, the solution to the location parameters of the magnetic source is achieved based on the 
linear model; compared with a traditional magnetic marking and positioning method, the linear positioning method has the advantages that only one three-axis magnetic sensor is needed, the solution can be achieved without the need of the non-
linear iteration method, rapid positioning is achieved, the precision is high, and cost is low.