A radio communication apparatus for collecting base station information for position estimation, the radio communication apparatus being capable of radio communication with a base station, the radio communication apparatus being moveable with movement of a movable body, the radio communication apparatus comprising: a storage unit storing position information of a base station whose base station identification information is unknown; a notification unit for notifying the moveable body or an operation subject of the moveable body of the position information of the base station recorded in the storage unit whose base station identification information is unknown; a communication unit configured to receive, in a predetermined period, a radio signal containing base station identification information from the base station whose base station identification information is unknown; a recording unit configured to record, in the storage unit, the base station identification information contained in the radio signal received by the communication unit; a measuring unit configured to measure the receiving intensity of the radio signal received by the communication unit from the base station; and a position information acquisition unit adapted to acquire position information of the radio communication apparatus; wherein the recording unit is configured to associate and record the acquisition time of the position information of the radio communication apparatus and the position information of the radio communication apparatus in the storage unit as log information, associate the receiving time of the radio signal by the communication unit with the base station identification information contained in the radio signals received by the communication unit and record the base station identification information and the receiving time in the storage unit, the recording unit is further configured to associate the receiving intensity measured by the measuring unit with the base station identification information and the receiving time of the radio signal and record the base station identification information, and the receiving intensity in the storage unit as intensity measurement information, wherein the communication unit is configured to transmit the log information and the intensity measurement information to an information processing apparatus for associating the base station identification information contained in the radio signal received by the communication unit near a position of the base station whose base station identification information is recorded in the storage unit with the position information of the base station whose base station identification information is unknown. a storage unit storing position information of a base station whose base station identification information is unknown; a notification unit for notifying the moveable body or an operation subject of the moveable body of the position information of the base station recorded in the storage unit whose base station identification information is unknown; a communication unit configured to receive, in a predetermined period, a radio signal containing base station identification information from the base station whose base station identification information is unknown; a recording unit configured to record, in the storage unit, the base station identification information contained in the radio signal received by the communication unit; a measuring unit configured to measure the receiving intensity of the radio signal received by the communication unit from the base station; and a position information acquisition unit adapted to acquire position information of the radio communication apparatus; wherein the recording unit is configured to associate and record the acquisition time of the position information of the radio communication apparatus and the position information of the radio communication apparatus in the storage unit as log information, associate the receiving time of the radio signal by the communication unit with the base station identification information contained in the radio signals received by the communication unit and record the base station identification information and the receiving time in the storage unit, the recording unit is further configured to associate the receiving intensity measured by the measuring unit with the base station identification information and the receiving time of the radio signal and record the base station identification information, and the receiving intensity in the storage unit as intensity measurement information, wherein the communication unit is configured to transmit the log information and the intensity measurement information to an information processing apparatus for associating the base station identification information contained in the radio signal received by the communication unit near a position of the base station whose base station identification information is recorded in the storage unit with the position information of the base station whose base station identification information is unknown.