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An improved channel estimation scheme based on estimation of parameters is presented for frequency-selective MIMO channels. In the algorithm, the propagation delays and the angles of multipath are firstly estimated by a extended TST-MUSIC algorithm. With the information of multipath delays and angles, an estimator based on parametric channel model is derived and the estimator's performance is analyzed. Simulation results show that the method can effectively decrease the dimension of estimated parameters, consequently has much better performance than the nonparametric least square (LS) estimator.