A position determination device determines the position of a terminal. A signal of a sensor attached to one or both of a beacon and a terminal is sampled, so that a signal of the beacon may be transmitted and received only when the beacon or the terminal has moved. A plurality of beacons sequentially transmit beacon signals to determine the terminal position by determining a distance between the respective beacons and the terminal based on a time to receive the beacons. The device includes a beacon for transmitting a beacon signal; a terminal for receiving the beacon signal; and a first sensor attached to the terminal to sense movement of the terminal and to output a first sensing signal indicative of the sensed movement. The terminal has a reception mode for receiving the beacon signal and turns on/off the reception mode based on the first sensing signal.