Provided is a moving body positioning device serving as an essential element for monitoring and tracing a moving body, which moving body positioning device uses an external monitoring camera.The moving body positioning device includes a self-contained sensor group that outputs a motion velocity vector of a moving body with use of an acceleration sensor provided in the moving body, a motion velocity vector estimation processing device that measures a motion velocity vector in accordance with the output of the self-contained sensor group and outputs an output sequence of the motion velocity vector together with a measured time, a monitoring camera for externally image capturing the moving body, an image analysis processing device that analyzes the image of the monitoring camera to measure a position of feet of the moving body in the image, measures a motion velocity vector at the position of the feet, and outputs an output sequence of the motion velocity vector together with a measured time, and a motion velocity vector collation processing device that collates the output sequence of the motion velocity vector estimation processing device with the output sequence of the image analysis processing device and outputs its collation result as a TRUE or a FALSE signal.