A magnetic type azimuth/position measurement device, comprising: a three-dimensional magnetic field generating device configured to generate a uniform magnetic field and an inclined magnetic field along an X axis, a Y axis, and a Z axis in given three-dimensional space; a uniaxial magnetic field sensor (1, 31) configured to measure a strength of the magnetic field; and an arithmetic operation apparatus (28, 54) configured to calculate a position and an azimuth of the magnetic field sensor (1, 31) in the three-dimensional space, wherein a uniform magnetic field as a reference is sequentially generated in the X axis, Y axis, and Z axis using the three-dimensional magnetic field generating device, values of the uniform magnetic fields are measured by the magnetic field sensor (1, 31) to calculate, on the basis of the three measurement values, an azimuth vector of the magnetic field sensor (1, 31) in the three-dimensional space and direction cosines for axes of the magnetic field sensor (1, 31), and then the inclined magnetic field is sequentially generated in the X axis, Y axis, and Z axis while maintaining an azimuth of the magnetic field sensor (1, 31) in the azimuth to measure values of the inclined magnetic fields by the magnetic field sensor (1, 31) at a given position, so that the given position of the magnetic field sensor (1, 31) is calculated on the basis of the three measurement values and the direction cosines for the axes of the magnetic field sensor (1, 31), and the three-dimensional magnetic field generating device generates the uniform magnetic field and the inclined magnetic field independently along the X axis, the Y axis, and the Z axis, characterized in that the three-dimensional magnetic field generating device comprises coil pairs provided in each axial direction, and the uniform magnetic field is generated by applying a pulse DC current in the same direction sequentially to the coils in the X axis, Y axis and Z axis, and the inclined magnetic field is generated by applying a pulse DC current in the opposite direction sequentially to the coils in the X axis, Y axis and Z axis. a three-dimensional magnetic field generating device configured to generate a uniform magnetic field and an inclined magnetic field along an X axis, a Y axis, and a Z axis in given three-dimensional space; a uniaxial magnetic field sensor (1, 31) configured to measure a strength of the magnetic field; and an arithmetic operation apparatus (28, 54) configured to calculate a position and an azimuth of the magnetic field sensor (1, 31) in the three-dimensional space, wherein a uniform magnetic field as a reference is sequentially generated in the X axis, Y axis, and Z axis using the three-dimensional magnetic field generating device, values of the uniform magnetic fields are measured by the magnetic field sensor (1, 31) to calculate, on the basis of the three measurement values, an azimuth vector of the magnetic field sensor (1, 31) in the three-dimensional space and direction cosines for axes of the magnetic field sensor (1, 31), and then the inclined magnetic field is sequentially generated in the X axis, Y axis, and Z axis while maintaining an azimuth of the magnetic field sensor (1, 31) in the azimuth to measure values of the inclined magnetic fields by the magnetic field sensor (1, 31) at a given position, so that the given position of the magnetic field sensor (1, 31) is calculated on the basis of the three measurement values and the direction cosines for the axes of the magnetic field sensor (1, 31), and the three-dimensional magnetic field generating device generates the uniform magnetic field and the inclined magnetic field independently along the X axis, the Y axis, and the Z axis, characterized in that the three-dimensional magnetic field generating device comprises coil pairs provided in each axial direction, and the uniform magnetic field is generated by applying a pulse DC current in the same direction sequentially to the coils in the X axis, Y axis and Z axis, and the inclined magnetic field is generated by applying a pulse DC current in the opposite direction sequentially to the coils in the X axis, Y axis and Z axis.