POSITION MEASUREMENT DEVICE

A positioning device includes an imaging unit, a detector, a bias correction unit, a position computation unit, and a stationary determination unit. The imaging unit is mounted on a moving body, and captures an image of surroundings of the moving body to acquire a captured image. The detector is mounted on the moving body, detects motion of the moving body, and outputs a detection signal indicating a detection result. The bias correction unit processes the detection signal using a correction value for correcting a bias error included in the detection signal without depending on the motion of the moving body. The position computation unit computes the position of the moving body based on the captured image acquired by the imaging unit and the detection signal processed by the bias correction unit. If a stationary determination unit determines that the moving body is stationary, the bias correction unit updates the correction value of the bias error based on the detection signal output by the detector.