Disclosed is a positioning device, a position measurement server, and a position measurement system capable of estimating a relatively accurate position on the basis of a signal transmitted from a terminal in a mobile communication system. Particularly, the positioning device acquires channel configuration information of an uplink signal of a target terminal, receives the uplink signal of the target terminal through one or more uplink signal reception units on the basis of the channel configuration information, measures information on the received uplink signal, and transmits the information on the uplink signal of the target terminal to the position measurement server, and the position measurement server receives the information on the uplink signal of the target terminal from the positioning device and calculates a position of the target terminal on the basis of the information on the uplink signal of the target terminal.