There is provided a radio communication device having a high quality and accuracy regardless of fluctuation degree of the transmission path characteristic. The radio communication device estimates the fluctuation speed of the transmission path characteristic from the time correlation of the reception signal, judges the diversity technique used between the communication devices from the estimated value, and feeds back the judgment information so as to switch the diversity between the communication devices, thereby increasing the diversity gain. The feedback information is minimized by defining a correspondence table. Moreover, diversity switching is performed at a timing considering a control delay and a propagation path delay so as to prevent an instantaneous disconnection of the communication.