A receiving apparatus according to the present invention includes an obtaining unit operable to obtain the reception level of a first radio wave received via one antenna of first and second antennas, and a transmission rate representing the transmission speed of the first radio wave, the transmission rate being included in the first radio wave and being set by a transmitting apparatus transmitting the first radio wave; a storing unit operable to store, for each of a plurality of transmission rates, a range of signal reception levels in which a packet error rate is substantially 0%; a determining unit operable to determine whether to switch from the one antenna to another antenna based on the reception level of the first radio wave and a first range of reception levels stored in the storing unit which correspond to the transmission rate of the first radio wave; and a controlling unit operable to control switching of the antennas when the determining unit determines to switch from the one antenna to the another antenna so as to receive via the another antenna a second radio wave of a packet different from the packet of the first radio wave.