A position estimation method of the present disclosure includes: acquiring learning data from a storage medium that stores the learning data including a sequence of a plurality of measurement values which define a waveform characteristic of a first electrical signal output from a sensor device when a rotor R is rotating; acquiring a sequence of a plurality of detection values which define a waveform characteristic of a second electrical signal output from the sensor device when the rotor starts rotating from a stopped state; and performing matching between an increase/decrease pattern of the sequence of the plurality of measurement values and an increase/decrease pattern of the sequence of the plurality of detection values to estimate a relationship between a rotation position of the rotor when the first electrical signal is output and a rotation position of the rotor when the second electrical signal is output.