PROBLEM TO BE SOLVED: To make it possible to estimate a forward direction, and, as a result, improve estimation accuracy of an advancing direction.;SOLUTION: When an advancing direction estimation device 100 moves, a control unit is configured to take in an acceleration signal from an acceleration sensor 15 for each sampling timing; acquire vertical direction information indicative of a vertical direction on the basis of a plurality of acceleration signals; estimate an amount of movement of an own device, and acquire true north direction information indicative of a true north direction in a device coordinate system of the own device on the basis of from terrestrial magnetism information from a terrestrial magnetism sensor 16 and the vertical direction information; when the own device moves from a first time to a second time, acquire reference advancing direction information indicative of a direction heading for a position of the own device at the second time from a position of the own device at the first time on the basis of a positioning result of a positioning unit 14 at each time, and the true north direction information acquired at each time; and acquire movement direction information indicative of a movement direction of the own device during an object period between the first time and the second time on the basis of a plurality of acceleration signals in the object period and advancing direction information.;SELECTED DRAWING: Figure 1;COPYRIGHT: (C)2018,JPO&INPIT
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