A positioning detection device includes a first obtaining circuit to obtain a satellite signal, a second obtaining circuit to obtain a detection signal of an inertial device, a third obtaining circuit to obtain a traveling state of the vehicle body including straight-traveling and turning of the vehicle body, a first calculator to calculate first positioning information in satellite navigation system to which the satellite signal is applied, a second calculator to calculate second positioning information in inertial navigation system to which the detection signal is applied, a third calculator to calculate third positioning information in Kalman filter to which the first positioning information and the second positioning information are applied, and an output circuit to output the third positioning information when the third obtaining circuit obtains the straight-traveling and to output the first positioning information and/or the second positioning information when the third obtaining circuit obtains the turning.