A positioning detection device suitable to be disposed on a vehicle body having a working device or on the working device and comprising: a first obtaining part configured to obtain a satellite signal from a navigation satellite; a second obtaining part configured to obtain a detection signal of an inertial device; a third obtaining part configured to obtain a traveling state of the vehicle body, the traveling state including at least straight-traveling of the vehicle body and turning of the vehicle body; a first calculation part configured to calculate first positioning information in accordance with satellite navigation system (GNSS) to which the satellite signal obtained by the first obtaining part is applied, the first positioning information being information on positioning; a second calculation part configured to calculate second positioning information in accordance with inertial navigation system to which the detection signal obtained by the second obtaining part is applied, the second positioning information being information on positioning; a third calculation part configured to calculate third positioning information in accordance with Kalman filter to which the first positioning information and the second positioning information are applied, the third positioning information being information on positioning; and an output part configured to output the third positioning information when the third obtaining part obtains the straight-traveling of the vehicle body, the third positioning information being calculated by the third calculation part, wherein the output part is configured to output a position and a direction calculated as the third positioning information by the third calculation part when the third obtaining part obtains the straight-traveling of the vehicle body, and output a direction calculated as the second positioning information by the second calculation part when the third obtaining part obtains the turning of the vehicle body, wherein the output part is configured to output a position calculated as the first positioning information by the first calculation part when the third obtaining part obtains the turning of the vehicle body, wherein the third obtaining part is configured to obtain stopping of the vehicle body, and wherein the output part is configured to output, just before the stopping, last one of the directions calculated as the third positioning information by the third calculation part when the third obtaining part obtains the stopping after obtaining the traveling state other than the turning of the vehicle body. a second obtaining part configured to obtain a detection signal of an inertial device; a third obtaining part configured to obtain a traveling state of the vehicle body, the traveling state including at least straight-traveling of the vehicle body and turning of the vehicle body; a first calculation part configured to calculate first positioning information in accordance with satellite navigation system (GNSS) to which the satellite signal obtained by the first obtaining part is applied, the first positioning information being information on positioning; a second calculation part configured to calculate second positioning information in accordance with inertial navigation system to which the detection signal obtained by the second obtaining part is applied, the second positioning information being information on positioning; a third calculation part configured to calculate third positioning information in accordance with Kalman filter to which the first positioning information and the second positioning information are applied, the third positioning information being information on positioning; and an output part configured to output the third positioning information when the third obtaining part obtains the straight-traveling of the vehicle body, the third positioning information being calculated by the third calculation part, wherein the output part is configured to output a position and a direction calculated as the third positioning information by the third calculation part when the third obtaining part obtains the straight-traveling of the vehicle body, and output a direction calculated as the second positioning information by the second calculation part when the third obtaining part obtains the turning of the vehicle body, output a position and a direction calculated as the third positioning information by the third calculation part when the third obtaining part obtains the straight-traveling of the vehicle body, and output a direction calculated as the second positioning information by the second calculation part when the third obtaining part obtains the turning of the vehicle body, wherein the output part is configured to output a position calculated as the first positioning information by the first calculation part when the third obtaining part obtains the turning of the vehicle body, wherein the third obtaining part is configured to obtain stopping of the vehicle body, and wherein the output part is configured to output, just before the stopping, last one of the directions calculated as the third positioning information by the third calculation part when the third obtaining part obtains the stopping after obtaining the traveling state other than the turning of the vehicle body.