To realize an MR free from position shift by compensating measurement errors of view position due to an inertia sensor, and especially by compensating accumulated error caused with period progress.

The device comprises: an angular velocity measuring part measuring an angular velocity caused by the rotation of a measuring object; an acceleration measuring part measuring acceleration caused by the movement and rotation of the measuring object; an error estimation means estimating an error contained in the output of the acceleration measuring part based on the output of the angular velocity measuring part; a posture calculation means calculating the posture of the measuring object based on the angular velocity measuring part; and a position calculation means calculating the position of the measuring object based on the error estimation results by the output of the acceleration measuring part and the error estimation means, and the posture calculation results of the posture calculation means.