According to the acoustic reciprocity theorem (ART), we propose a system matrix reconstruction algorithm of thermoacoustic imaging for magnetic nanoparticles (MNPs) by a single-pulse magnetic field. In both cases of inhomogeneous and homogeneous acoustic velocity, we respectively derive the linear equation between the sound pressure detection value and the distribution of MNPs. The image reconstruction problem is converted to an inverse matrix solution by using the truncated singular value decomposition (TSVD) method. In forward problem, the calculated forward results are consistent with the simulated thermoacoustic signal signals. In inverse problem, we build the two-dimensional breast cancer model. The TSVD method based on the ART faithfully reflects the distribution of abnormal tissue labeled by the MNPs. In the experiment, the biological sample injected with the MNPs is used as the imaging target. The reconstructed image well reflects the cross-sectional images of the MNPs area. The TSVD method based on the ART takes into account energy attenuation and inhomogeneous acoustic velocity, and use a non-focused broadband ultrasonic transducer as the receiver to obtain a larger imaging field-of-view (FOV). By comparing the image metrics, we prove that the algorithm is superior to the traditional time reversal method. The TSVD method based on the ART can better suppress noise, which is expected to reduce the cost by reducing the number of detectors. It is of great significance for future clinical applications.