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The present invention provides a position estimation appara tus, mounted at mobile object, including: an acquisition sec tion that acquires transmission Source information transmit ted from each plural information transmission sources including, information relating to a position of information transmission Source, information relating to a distance between information transmission source and mobile object, and information relating to a relative velocity of mobile object with respect to information transmission Sources; a trajectory calculation section that calculates, over predeter mined duration, a trajectory of mobile object by integrating velocity vectors of mobile object obtained based on transmis sion source information; and an estimation section that esti mates, as a position of mobile object, a position for which trajectory is translated such that a difference between, dis tances between a plurality of points at different …