The present invention intends to provide a method for accurately and quickly estimating a three-dimensional position of a radio transmitter. The present invention provides a method for estimating a three-dimensional position of a radio transmitter. The method includes: a step of moving a mobile object provided with a radio receiver in a workspace to a position where the radio receiver receives a radio signal from a radio transmitter, a step of storing a receiving state of the radio signal as the mobile object performs a predetermined operation when the radio receiver receives the radio signal, and a step of determining a three-dimensional position of the radio transmitter based on the receiving state.