A positioning device includes: a receiving unit configured to receive wireless quality information indicating wireless quality between a mobile station and a base station and information indicating a direction and an orientation of the mobile station; a determining unit configured to acquire measuring data to be used for measuring a location of the mobile station based on the direction and the orientation, from data in which each of regions as location candidates of the mobile station is associated with respective wireless quality information; and a measuring unit configured to measure the location of the mobile station based on the wireless quality information and the measuring data.