A map matching device for a positioning device includes an inertial detect module, measuring a moving signal generated from the positioning device, a movement estimation module, estimating location information of the positioning device according to the moving signal, a map data storage module, storing a plurality of types of map feature information of an environment where the positioning device is located, and a matching module, matching the location information with the plurality of types of map feature information for performing map matching processes, and providing a positioning coordinate.