A geomagnetic sensor capable of calibrating an accurate azimuth even if the geomagnetic sensor is in a tilting state. The geomagnetic sensor includes a geomagnetism measuring unit, having a drive pulse generating unit for generating a pulse signal and two-axis flux gates provided in X-axis and Y-axis directions which are orthogonal to each other, for outputting voltage values of the two-axis flux gates corresponding to geomagnetism produced by the drive signal, an acceleration sensor for measuring a pitch angle and a roll angle which indicate a tilting degree of the geomagnetic sensor based on X axis and Y axis, and a control unit for calibrating the azimuth by extracting normalization factors by compensating the voltage values outputted from the geomagnetism measuring unit using the pitch angle and the roll angle measured by the acceleration sensor and normalizing the compensated voltage values using the normalization factors.