A positioning device, which locates a position based on satellite signals which are signals from positioning satellites, includes a position holding section which holds a reference position P, a stationary condition determination section which determines whether or not the reference position P satisfies stationary conditions B, an average position calculation section which averages the reference position P satisfying the stationary conditions B and a present located position Pg calculated by positioning to calculate an average position Pav, a position output section which outputs the average position Pav, and a position storage section which stores the average position Pav in the position holding section as the reference position P.