If continuous moving objects are managed by conventional database, it is not possible for them to store all position information changed over time in the database. Therefore, a time period of regular rate is determined and position information of moving objects are discretely stored in the system for every time period. However, if continuous moving objects are managed as discrete model, we will have problems which cannot properly answer to the query about uncertain past or future position information. To solve this problem, in this paper, we propose the method and algorithm which use the history information stored in the same database, to estimate the past or future location of moving objects. The cubic spline interpolation is used to estimate the past location and the mean movement value of the history information is used to predict the future location of moving objects. Finally, from the location estimation experimentation of using virtual trajectory and location sample, we proved that the proposed cubic spline function has less error than the linear function.