A change in geoid height is easily measured. A geoid measurement method according to the present invention executes an inertial measurement data acquisition step, a contrast data acquisition step, a state variable estimation step, and a geoid calculation step. In the inertia measurement data acquisition step, data relating to speed, position, and attitude angle is acquired as inertia-derived data based on the output of an inertia measurement unit having a three-axis gyro attached to the moving body and a three-axis accelerometer. In the comparison data acquisition step, data related to speed is acquired as comparison data from other than the inertia measurement unit. In the state variable estimation step, the state variable including the vertical line deviation is estimated by applying a Kalman filter including the vertical line deviation as the state variable using the inertia-derived data and the contrast data. In the geoid calculation step, a change in the geoid height at the estimated position is obtained based on the estimated vertical line deviation. [Selection] Figure 1
展开▼
