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This paper proposes a comb-type pilot inserted scheme and channel estimation technique for MIMO-OFDM systems. In the proposed scheme, the pilot tones sent by different transmit antennas can be superimposed on the same sub-carrier due to the pilot symbol orthogonality. This can save bandwidth and increase the system data rates. At the receiver, by separating the orthogonal pilot tones, the sampled frequency response could be obtained, and then used to track the whole channel frequency response in real time through interpolation. Due to the save of pilot sub-carriers and the real time tracking ability in the proposed algorithm, simulation results show effective performance in static and mobile situation.