A magnetic field measurement apparatus includes a plurality of magnetic sensors, a calibration unit that estimates a magnetic field on the basis of detected vectors of the magnetic sensors, positional information of the magnetic sensors, and measured values of the magnetic sensors, and updates the detected vectors on the basis of the estimated magnetic field, and a magnetic field calculation unit that calculates a magnetic field to be measured on the basis of the measured values of the magnetic sensors and the detected vectors updated by the calibration unit.
