To provide a method and a device for detecting the three-dimensional position and three-dimensional angle of a moving body.

Radio waves transmitted from at least four GPS satellites are received by a non-directional antenna 9 to detect the distance between the moving body and each satellite, and the incident directions of the radio waves transmitted from the respective satellites are detected by a directional antenna 11 directional in an azimuth direction. On the basis of the detected distance to each satellite and the incident direction data of the radio waves, the three- dimensional position of each satellite in a relative coordinate system with the moving body as an origin is computed by a relative coordinate value computing circuit 7. A rotation vector for converting the relative coordinate system into an absolute coordinate system is computed by a coordinate converting circuit 8 from the computed three-dimensional position information of each satellite and three-dimensional position information in the absolute coordinate system, and the three-dimensional position and three-dimensional angle in the absolute coordinate system of the moving body is computed on the basis of the rotation vector.