The present invention provides a device and method for estimating a travel direction of a
moving body, the device and method allowing highly
accurate estimation of the travel direction even in the case where the positional relationship between the
moving body and the self-contained sensing device or the posture is changed freely.The travel direction estimating device includes (i) a gravitational
direction vector estimating section 2407 for estimating a gravitational
direction vector on the basis of respective outputs of an acceleration sensor and an
angular velocity sensor, (ii) a tentative travel
direction vector generating section 2413 as a candidate of travel direction vector, (iii) a walk frequency estimating section 2424 for estimating a walk frequency from component data resulting from projecting acceleration component data for the gravitational direction vector, and (iv) a travel direction vector determining section 2425 for determining an objective function and a
phase difference on the basis of a frequency component of a component Af resulting from projecting the acceleration component data for a travel direction vector, a frequency component of a component An resulting from projecting the acceleration component data for a side-to-side direction vector, a frequency component of a component Ws resulting from projecting
angular velocity component data for the travel direction vector, a frequency component of a component Wn resulting from projecting the
angular velocity component data for the side-to-side direction vector, a walk frequency, and the phase of the walk frequency, selecting as travel direction vectors, tentative travel direction vectors with which the
phase difference is within a predetermined range and each of which maximizes the value of the objective function, and determining the side of the travel direction.