A location estimation system for estimating a location of a wireless communication terminal, the location estimation system including first to M-th wireless communication devices and a control device, M being an integer equal to or more than two, wherein each i-th wireless communication device, for all integers i between 1 and M, includes communication circuitry, which in operation, receives a signal transmitted from the wireless communication terminal using beams in Ni directions, Ni being an integer equal to or more than two, and control circuitry, which in operation, calculates Ni reception qualities corresponding to the beams in the Ni directions, respectively, and wherein the control device includes storage circuitry, which in operation, stores radiation angle characteristics of the beams in the Ni directions for each of the first to M-th wireless communication devices, and control circuitry, which in operation, for all integers i between 1 and M, estimates an i-th arrival direction vector ai of the signal received by the i-th wireless communication device by comparing the Ni reception qualities with the radiation angle characteristics of the beams in the Ni directions, determines, for all integers i between 1 and M, an orientation transformation matrix Mi corresponding to an orientation of the array antenna of the i-th wireless communication device, a direction vector ni=Mi ai, a line Li which is the line that passes through a location of the i-th wireless communication device and is parallel to the direction vector ni, determines, for all integers i between 1 and M and all integers j between 1 and M, a pair (i,j) of different wireless communication devices from the first to M-th wireless communication devices, determines for each of the pairs (i,j) a point Pi, a point Pj, and a point Pest=(Pi+Pj)/2, the point Pi being the closest point to the line Lj among points on the line Li and the point Pj being the closest point to the line Li among points on the line Lj, and estimates the location of the wireless communication terminal from the center of mass of all of the points Pest. each i-th wireless communication device, for all integers i between 1 and M, includes communication circuitry, which in operation, receives a signal transmitted from the wireless communication terminal using beams in Ni directions, Ni being an integer equal to or more than two, and control circuitry, which in operation, calculates Ni reception qualities corresponding to the beams in the Ni directions, respectively, and wherein communication circuitry, which in operation, receives a signal transmitted from the wireless communication terminal using beams in Ni directions, Ni being an integer equal to or more than two, and control circuitry, which in operation, calculates Ni reception qualities corresponding to the beams in the Ni directions, respectively, and wherein the control device includes storage circuitry, which in operation, stores radiation angle characteristics of the beams in the Ni directions for each of the first to M-th wireless communication devices, and control circuitry, which in operation, for all integers i between 1 and M, estimates an i-th arrival direction vector ai of the signal received by the i-th wireless communication device by comparing the Ni reception qualities with the radiation angle characteristics of the beams in the Ni directions, storage circuitry, which in operation, stores radiation angle characteristics of the beams in the Ni directions for each of the first to M-th wireless communication devices, and control circuitry, which in operation, for all integers i between 1 and M, estimates an i-th arrival direction vector ai of the signal received by the i-th wireless communication device by comparing the Ni reception qualities with the radiation angle characteristics of the beams in the Ni directions, determines, for all integers i between 1 and M, an orientation transformation matrix Mi corresponding to an orientation of the array antenna of the i-th wireless communication device, a direction vector ni=Mi ai, a line Li which is the line that passes through a location of the i-th wireless communication device and is parallel to the direction vector ni, an orientation transformation matrix Mi corresponding to an orientation of the array antenna of the i-th wireless communication device, a direction vector ni=Mi ai, a line Li which is the line that passes through a location of the i-th wireless communication device and is parallel to the direction vector ni, determines, for all integers i between 1 and M and all integers j between 1 and M, a pair (i,j) of different wireless communication devices from the first to M-th wireless communication devices, determines for each of the pairs (i,j) a point Pi, a point Pj, and a point Pest=(Pi+Pj)/2, the point Pi being the closest point to the line Lj among points on the line Li and the point Pj being the closest point to the line Li among points on the line Lj, and estimates the location of the wireless communication terminal from the center of mass of all of the points Pest.