A new 3-dimensional joint estimation method is presented.With a single echo wave

bearings

frequencies

and time-delays of multiple reflectors are estimated jointly.We construct 2 sub-arrays like ESPRIT

and then make a generalized eigen-decomposition on their auto-correlation matrix and cross-correlation matrix.Bearing parameters can be estimated from eigenvalues

while frequency parameters can be obtained from corresponding eigenvectors.Having modified the time-delay vectors of enveloping with estimated frequencies

we can get the time-delay parameters simultaneously.Computer simulations show that the proposed method can carry out the 3-dimensional joint estimation without additional pairing algorithm in the case of lower SNR.Preferable results are also obtained in water tank experiments

indicating the method is robust for sensor array errors

and showing good potential in applications.