The present invention discloses a position detection method of a permanent magnetism motor of straight-line rotation two-degree of freedom. The method comprises: the permanent magnet of permanent magnetism motor of straight-line rotation two-degree of freedom are divided into a plurality of small blocks on the circumference and the axial direction. A plurality of sensors arranged on the stator adjacent to one surface of the mover yoke are configured to detect the movement of the mover on the straight line and rotation directions to realize the position detection of the straight-line rotation permanent magnetism motor. Through adoption of a partitioning permanent magnet and a linearity hall sensor, the position detection method of a permanent magnetism motor of straight-line rotation two-degree of freedom realizes the position detection of two-degree of freedom three motion modes of the straight-line rotation permanent magnetism motor, and is compact in structure and small in size; and moreover, through adoption of a mode of a sensor embedding the stator, the position detection method of the permanent magnetism motor of straight-line rotation two-degree of freedom is simple in installation, low in cost and easy to realize.