A communication device comprising: a plurality of wireless communication sections; and a control section configured to repeatedly perform a measurement process including transmission of a signal from a representative wireless communication section, reception of the signal from another communication device by the plurality of wireless communication sections, and calculation of a reliability parameter with regard to at least any of the wireless communication sections, control a selection process of selecting the representative wireless communication section each time the measurement process is repeated, and control a positional parameter determination process on a basis of the reliability parameter, the positional parameter determination process being a process of determining a positional parameter indicating a position of the other communication device on a basis of a plurality of a first incoming waves obtained through repetition of the measurement process.