Let $F$ be the fixed field.
Since the symmetry group is finite, there is a trace map $\mathbf{Q}(t) \to F$:
$$ \operatorname{Tr}_{\mathbf{Q}(t) / F}(f(t)) = \sum_{\sigma \in S_3} f(\sigma(t)) $$
In fact, we can see that $f(t) \in F$ if and only if $f(t) = \frac{1}{6} \operatorname{Tr}_{\mathbf{Q}(t) / F}(f(t))$.
Usually, for problems like these, I just compute the trace of a few simple elements, and stop as soon as I've used them to generate a field where it's easy to see that $[\mathbf{Q}(t) : F] = 6$.
The norm map works too (as do any of the other elementary symmetric polynomials in the conjugates), but I usually use the trace map for this purpose.
Although now that I've thought about it some more, the norm map might be the better choice when working with a rational function field. Every automorphism of $K(t)$ is a permutation on the set of rational functions whose numerator and denominator are both degree 1 or less. Thus, the norm of such a rational function down to $K(t)^G$ will be a rational function whose numerator and denominator are of degree $d$ or less, where $d$ is the size of $G$.
Thus, if I pick some $f(t)$ whose numerator and denominator are degree 1 or less and set
$$ u := \frac{a(t)}{b(t)} := \operatorname{Nm}_{K(t) / K(t)^G}(f(t)) $$
then $b(t) u - a(t)$ is a polynomial of degree $|G|$ or less over the field $K(u)$ that has $t$ as a root.
If this polynomial is nonzero (i.e. if $u$ is not constant), then $t$ is a root of the polynomial, and we have
$$ [ K(t) : K(u) ] \leq |G| $$
$$ [ K(t) : K(t)^G ] = |G| $$
$$ K(u) \subseteq K(t)^G $$
and thus
$$ [K(t)^G : K(u)] \leq 1 $$
and thus we see that $K(u) = K(t)^G$.
As an example, using $f(t) = t$, the algorithm above reproduces the fact that the fixed field of $t \mapsto 1-t$ is indeed $K(t(1-t))$ .
For your problem, $f(t) = t$ doesn't work, but $f(t) = 1+t$ does, and gives:
$$ u = -\left(\frac{(t+1)(t-2)(2t-1)}{t(t-1)} \right)^2 $$