A signal analysis device includes an estimation unit that models a sound source position occurrence probability matrix Q using a product of a sound source position probability matrix B and a sound source existence probability matrix A, and estimates at least one of the sound source position probability matrix B and the sound source existence probability matrix A based on the modeling, the sound source position occurrence probability matrix Q being composed of probabilities of arrival of a signal from each sound source position candidate per frame, which is a time section, with respect to a plurality of sound source position candidates. The sound source position probability matrix B being composed of probabilities of arrival of a signal from each sound source position candidate per sound source with respect to a plurality of sound sources.