Magnetic field sensing device

A magnetic field sensing device, comprising:

• a plurality of first magnetoresistor units, disposed in three-dimensional space formed by a first direction, a second direction, and a third direction, wherein magnetic field sensing axes of the first magnetoresistor units are parallel to a plane formed by the first direction and the third direction and are inclined with respect to the first direction and the third direction;
• and
• a plurality of second magnetoresistor units, disposed in the three-dimensional space, wherein magnetic field sensing axes of the second magnetoresistor units are parallel to a plane formed by the second direction and the third direction and are inclined with respect to the second direction and the third direction,
• wherein the first magnetoresistor units and the second magnetoresistor units are electrically connected to form a plurality of different kinds of Wheatstone bridges in a plurality of different time periods, respectively, or are electrically connected to form one kind of Wheatstone bridge in the different time periods, but the first magnetoresistor units and the second magnetoresistor units connected by the one kind of Wheatstone bridge are switched into a plurality of different magnetization direction combinations in the different time periods, respectively, so as to measure a plurality of magnetic field components in a plurality of directions in the three-dimensional space.