A position estimation apparatus estimates the position of a radio communication device that outputs a signal, where the apparatus includes a distance estimating section, a difference summing section, and a minimum difference candidate point determining section, where the distance estimating section estimates actual distances between wireless access points that receive the signal and the radio communication device as estimated distances based on the reception strength of the signal, where the difference summing section sums values based on differences between the distances between candidate points for the position of the radio communication device and the wireless access points and the estimated distances, where the minimum difference candidate point determining section determines a minimum difference candidate point, and where the position of the minimum difference candidate point is estimated as the position of the radio communication device.