Provided is a position estimation apparatus including a storage unit in which at least one piece of section information indicating a section in a structure and at least one piece of registered measurement information are stored in association with each other, and an estimation unit for determining, among the at least one piece of registered measurement information, registered measurement information whose degree of similarity to measurement information acquired by wireless measurement for a wireless signal transmitted from a base station exceeds a threshold value, and estimating section information that is associated with the registered measurement information as an acquisition position of the measurement information. The estimation unit performs, using different threshold values, determination of the degree of similarity for registered measurement information that is associated with latest section information which is a latest estimation result and determination of the degree of similarity for another piece of registered measurement information.