A receiving device is provided that includes a radio receiving unit to receive radio signals transmitted from multiple transmitting antennas by multiple receiving antennas and output received signals being digital signals, a frequency control unit to detect and correct a frequency error contained in the received signals, a channel estimation unit to estimate a channel matrix of which each element corresponds to respective pair of each transmitting antenna and each receiving antenna, an equalization unit to equalize the received signals by using the estimated channel matrix, a demodulation and decoding unit to demodulate and decode the equalized received signals, and an error estimation unit to estimate a channel variation component indicating temporal variation of characteristics of each channel and a phase error component remaining in the received signals based on the channel matrix, the received signals, and a decoding result or an equalization result.