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The new topology of the dual-armature flux-switching permanent magnet machine (DA-FSPM) leads to new characteristics and issues in the control of the machine, of which the mutual inductance of the two sets of armature windings is the most important one. This paper proposes a novel position–sensorless control method based on high-frequency injection (HFI) for DA-FSPM. The high-frequency model of the machine is derived, and the theory of the position estimation method is proposed. Different from the conventional HFI-based position estimation method, the proposed method utilizes the mutual inductance of the DA-FSPM rather than the machine saliency. Meanwhile, because the extracted position information based on the mutual inductance is more obvious, the proposed method also has better steady and dynamic performance. Then, the position observer based on the phase lock loop and the initial position detection method for the DA-FSPM is proposed. The experiments are executed on a DA-FSPM prototype with three-phase stator windings and five-phase rotor windings to prove the effectiveness and superiority of the proposed method.