A method for a terminal to transmit and receive signals for position estimation in a wireless communication system includes: receiving a downlink (DL) positioning reference signal (PRS) from each of a serving base station and reference base stations; measuring phase differences between sinusoidal components included in the DL PRSs for each of the serving base station and the reference base stations; generating an uplink (UL) PRS on the basis of the measured phase differences; and transmitting the UL PRS to the serving base station, wherein the terminal may report the phase difference measured for the serving base station and the phase differences measured for the reference base stations through the transmission of the UL PRS to the serving base station. The terminal is capable of communicating with at least one of another terminal, a terminal related to an autonomous driving vehicle, a base station or a network.