Radio communication system and method capable of expanding the coverage of a radio base station and thereby permitting efficient radio communications. A continuous time slot allocating unit continuously allocates time slots in a frame to generate a continuous time slot. During the period of the continuous time slot, a propagation information calculating unit communicates with a terminal unit to calculate propagation information about radio wave propagation between the radio base station and the terminal unit. Also, during the period of the continuous time slot, a transmission timing calculating unit calculates, based on the propagation information, transmission timing for a signal to be transmitted from the terminal unit to the radio base station. Signal transmitting unit transmits the signal in accordance with the transmission timing.