A human cavity inner wall three-dimensional mapping method, and a corresponding device and system, comprising: at least one field generating device which generates a plurality of distinguishable fields under excitation of a drive signal； at least one field sensor located in a target device for detecting the distinguishable fields to generate a sensor signal； and a positioning signal processing device for transmitting the drive signal to the field generating device and detecting the output of the field sensor signal to acquire data of five-dimensional position and orientation coordinates of a position on the target device where the sensor is located.
