The invention belongs to the pose measurement technical field and relates to a six-degrees-of-freedom pose measurement method and device. The six-degrees-of-freedom pose measurement method includes the following steps that: a plurality of light sources are disposed on a first plane and form a polygon, and the sensitive surfaces of the plurality of light sources, which face a two-dimensional PSD (Position Sensitive Device), are adjusted; a modulation circuit controls the plurality of light sources to emit light sequentially in accordance with preset rules; the two-dimensional PSD sequentially receives the light emitted by the plurality of light sources and converts the light into corresponding electrical signals; and a signal acquisition and processing circuit acquires the six-degree-of-freedom pose information of the sensitive surface of the two-dimensional PSD relative to the first plane or acquires the six-degree-of-freedom pose of the first plane relative to the sensitive surface of the two-dimensional PSD according to the preset rules for emitting the light and the received electrical signals. According to the six-degrees-of-freedom pose measurement method and device of the invention, one two-dimensional PSD is adopted to achieve six-degrees-of-freedom pose measurement, and therefore, the number of two-dimensional PSDs can be decreased, and system design can be simplified. The six-degrees-of-freedom pose measurement method and device of the invention can be applied to the six-degrees-of-freedom pose measurement of a space micro-gravity active vibration isolation device.