To provide a single shaft type azimuth measuring device miniaturized furthermore.

This azimuth measuring device 10 includes a rotational angular velocity sensor 26 for detecting rotational angular velocities U, V, W around each axis in a UVW orthogonal coordinate system; a gravitational acceleration sensor 28 for detecting gravitational accelerations gU, gV. gW in each axial direction; a stepping motor 14 for rotating sensors 26, 28 by (60n) degrees around the X-axis and positioning them; and a stepping motor 20 for rocking the sensors 26, 28 by 35.26 degrees around an axis orthogonal to the X-axis and positioning them. The azimuth measuring device 10 measures the rotational angular velocities U, V, W and the gravitational accelerations gU, gV. gW, performs coordinate transformation of the rotational angular velocities U, V, W and the gravitational accelerations gU, gV. gW into rotational angular velocities X, Y, Z and gravitational accelerations gX, gY. gZ in an XYZ orthogonal coordinate system, and calculates an azimuth angle based on the rotational angular velocities X, Y, Z and the gravitational accelerations gX, gY. gZ.