To provide a three-dimensional position measuring device which can easily measure three-dimensional positioning accuracy, the accuracy of a track during movement, and actual characteristics such as the resultant distance traveled and resultant speed at reduced cost.

This three-dimensional position measuring device includes a yaw-angle detecting encoder 11 for detecting the yaw angle of a subject 7 for measurement; a pitch-angle detecting encoder 12 supported against the rotating shaft 2 of the yaw angle detecting encoder to detect the pitch angle of the subject for measurement; a distance detecting encoder 6 supported against the rotating shaft 4 of the pitch angle detecting encoder to detect the distance traveled by the subject for measurement; and a computing unit for computing predetermined data on the basis of the detected yaw angle, pitch angle, and distance.