Provided are: a navigation device with which it is possible to achieve a low cost endoscope having a reduced size a navigation method and an endoscope system provided with the navigation device. This navigation device is provided with: a magnetic field generation control unit for causing a plurality of magnetic field generation units for generating magnetic fields at mutually different positions to generate magnetic fields at different timings an image signal acquisition unit for acquiring, from an endoscope, an added image signal that is obtained by adding specification information for specifying the magnetic field generation unit generating the magnetic field and results of magnetic field detection by each magnetic field detection unit to an image signal output from an imaging element and a position detection unit for detecting the position of each magnetic field detection unit on the basis of the specification information added to the added image signal acquired by the image signal acquisition unit and the results of magnetic field detection.
