A magnetic sensing device, the magnetic sensing device configured to sense a distance or a speed or an angle of movement and a direction of movement relative to an object, under a condition that the magnetic sensing device has a relative motion with the object in the direction of movement and the object has a magnetic field to be measured thereon, the magnetic sensing device comprising: a substrate having a supporting surface being parallel to the direction of movement on which a first sensing area, a third sensing area, and a second sensing area are consecutively arranged in the direction of movement, the first sensing area, the second sensing area, and the third sensing area respectively provided with a first midline, a second midline, and a third midline in the direction of movement, the first midline, the second midline, and the third midline respectively passing through midpoints of projection lengths of the first sensing area, the second sensing area, and the third sensing area in the direction of movement and being perpendicular to the direction of movement, and the first midline and the second midline being symmetrical with respect to the third midline; the first sensing area and the second sensing area are jointly configured to output a first output signal, the third sensing area is configured to output a second output signal, a phase difference between the first output signal and the second output signal being 90 degrees, and the first output signal and the second output signal are jointly configured to determine the distance or the speed or the angle of movement and the direction of movement of the relative motion, characterized in that each of the first sensing area and the second sensing area includes a first sensing cell (R11, R21), each of the first sensing cells (R11, R21) has a midline in the direction of movement, the midline of the first sensing cell (R11, R21) of the first sensing area coincides with the first midline of the first sensing area, and the midline of the first sensing cell (R11, R21) of the second sensing area coincides with the second midline of the second sensing area, the two first sensing cells (R11, R21) produce changes with equal numerical values and same directions for a same magnetic field to be measured, the two first sensing cells (R11, R21) are connected in series into a half-bridge structure to form a first sensor, and a connection point between the two first sensing cells (R11, R21) outputs a first sensing signal, the first sensing signal is configured to generate the first output signal. a substrate having a supporting surface being parallel to the direction of movement on which a first sensing area, a third sensing area, and a second sensing area are consecutively arranged in the direction of movement, the first sensing area, the second sensing area, and the third sensing area respectively provided with a first midline, a second midline, and a third midline in the direction of movement, the first midline, the second midline, and the third midline respectively passing through midpoints of projection lengths of the first sensing area, the second sensing area, and the third sensing area in the direction of movement and being perpendicular to the direction of movement, and the first midline and the second midline being symmetrical with respect to the third midline; the first sensing area and the second sensing area are jointly configured to output a first output signal, the third sensing area is configured to output a second output signal, a phase difference between the first output signal and the second output signal being 90 degrees, and the first output signal and the second output signal are jointly configured to determine the distance or the speed or the angle of movement and the direction of movement of the relative motion, characterized in that each of the first sensing area and the second sensing area includes a first sensing cell (R11, R21), each of the first sensing cells (R11, R21) has a midline in the direction of movement, the midline of the first sensing cell (R11, R21) of the first sensing area coincides with the first midline of the first sensing area, and the midline of the first sensing cell (R11, R21) of the second sensing area coincides with the second midline of the second sensing area, the two first sensing cells (R11, R21) produce changes with equal numerical values and same directions for a same magnetic field to be measured, the two first sensing cells (R11, R21) are connected in series into a half-bridge structure to form a first sensor, and a connection point between the two first sensing cells (R11, R21) outputs a first sensing signal, the first sensing signal is configured to generate the first output signal.