Wireless communication device, wireless communication system, and method for detecting receive timing of direct wave

A wireless communication device and method are capable of detecting a receive timing of a direct wave at higher precision without increasing transmit power. A signal receiver receives a signal having a center frequency changed in a predetermined rule at predetermined time intervals. A time-frequency transformer transforms the received signal from a time domain to a frequency domain. A filter removes frequency-domain signal components unused during reception, based on the predetermined rule, from the frequency-domain signal. A reverse modulator performs a reverse modulation process on the remaining signal components. A signal adder generates an added signal by performing accumulative addition on the signal components that underwent the reverse modulation process in the reverse modulator for a predetermined period. A direct wave arrival time determiner determines an arrival time of a direct wave according to an impulse response obtainable from an output of the frequency-time transformer.