I believe that Jesus did go to heaven. My point in quoting so many translations on this verse is to evaluate if a multitude of translators thought that "heaven" was the best translation for the particular passage that I'm citing:
11"Men of Galilee," they said, "why do you stand here looking into the sky? This same Jesus, who has been taken from you into heaven, will come back in the same way you have seen him go into heaven." (Acts 1:11 NIV)
11They also said, "Men of Galilee, why do you stand looking into the sky? This Jesus, who has been taken up from you into heaven, will come in just the same way as you have watched Him go into heaven." (Acts 1:11 NASB)
11who also said, `Men, Galileans, why do ye stand gazing into the heaven? this Jesus who was received up from you into the heaven, shall so come in what manner ye saw him going on to the heaven.' (Acts 1:11 Young's Literal)
11Who said, Men of Galilee, why do you stand gazing into heaven? This same Jesus, Who was caught away and lifted up from among you into heaven, will return in [just] the same way in which you saw Him go into heaven. (Acts 1:11 Amplified)
11 who say also, "Men! Galileans! Why do you stand, looking into heaven? This Jesus Who is being taken up from you into heaven shall come thus, in the manner in which you gaze at Him going into heaven." (Acts 1:11 Concordant Literal)
11Who also said - Men of Galilee! why stand ye looking into heaven? This Jesus who hath been taken up from you into heaven, shall so come, in like manner as ye yourselves have gazed upon him going into heaven. (Acts 1:11 Rotherham's Emphasized Bible)
11who also said, Men, Galileans, why do you stand looking up to the heaven? This Jesus, the One being taken from you into the heaven, will come in the way you saw Him going into the heaven. (Acts 1:11 Green's Literal)
11who also said, Men of Galilee, why do ye stand looking into heaven? This Jesus who has been taken up from you into heaven, shall thus come in the manner in which ye have beheld him going into heaven. (Acts 1:11 Darby Translation)
Who also said, Ye men of Galilee, why stand ye gazing up to heaven? this same Jesus who is taken from you into heaven, shall so come in like manner as ye have seen him go into heaven. (Acts 1:11 Webster's Bible Translation)
As far as "what" heaven is, it's obvious from Ephesians 4:10 that He ascended far above all things so that He'd be able to fill and complete all things, so whatever else that "heaven" is, it's very obviously the type of multi-demensional existance that we'd anticipate through superstring theory in science. He continues in His physical body as an immortal and as the above passage said, He'll bodily return someday in precisely the same body and in precisely the same state of health, and outlook regarding His complete victory, as He ascended from the earliest disciples in. I personally believe in a postmillenial view of eschatology, so for me, I'd be anticipating His coming at the time of the resurrection and the transformation of this planet into the New Earth. I know about the passages that give some people question marks along these lines, but He's simply not coming back previous to that and doing what He told us to do in the Great Commission to disciple all nations.