A radio communication system including a transmitter and a receiver (100) for transmitting MIMO channel signals is provided. The transmitter comprises a pilot signal insertion controller (93) for inserting a pilot signal for channel estimation into at least a leading frame; and an information symbol controller for controlling the number of information symbols to be contained in a frame, based on the existence of the pilot signal. The receiver comprises a received signal replica generator (112) for generating received signal replicas based on previously obtained provisional channel estimation values and transmission signal estimation values; a canceller (111) for removing, from a received signal, received signal replicas of at least a part of streams that are not channel estimation target streams; and a channel estimation value generator (113) for generating channel estimation values by a filter using outputs from the removing unit and the transmission signal estimation values.