The present invention enables easy measurement of a change in geoid height. This geoid measurement method involves performing an inertial measurement data acquisition step, a contrast data acquisition step, a state variable estimation step, and a geoid calculation step. The inertial measurement data acquisition step is for acquiring, on the basis of outputs of an inertial measurement unit having a triaxial gyro and a triaxial acceleration meter that are to be mounted to a mobile body, data pertaining to velocity, position, and attitude angle as inertia-derived data. The contrast data acquisition step is for acquiring, from a unit other than the inertial measurement unit, velocity-related data as contrast data. The state variable estimation step is for estimating, using the inertia-derived data and the contrast data, a state variable containing a plumb line deviation by applying a Kalman filter in which plumb line deviation is included in the state variable. The geoid calculation step is for determining, on the basis of an estimated plumb line deviation, a change in geoid height at a position determined by said estimation.
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