AZIMUTH CALCULATION DEVICE AND AZIMUTH CALCULATION METHOD

An azimuth calculation device includes: a first azimuth calculation unit that calculates a first azimuth based on a satellite signal or a detection result of an external sensor; a second azimuth calculation unit that calculates a second azimuth based on an angular velocity signal; a third azimuth calculation unit that calculates a third azimuth based on the first azimuth and the second azimuth; a storage unit that stores temperature characteristic information of an angular velocity bias; a temperature characteristic estimation unit that estimates a temperature characteristic of the angular velocity bias based on the second azimuth and the third azimuth and updates the temperature characteristic information; and an angular velocity bias prediction unit that predicts the angular velocity bias based on the temperature and the temperature characteristic information. The second azimuth calculation unit calculates the second azimuth based on the angular velocity bias predicted.