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This paper proposes a new method for the simultaneous estimation of the 2D arrival angles and the path delays of emitted user signals. By using the ESPRIT algorithm, we firstly formulate the problem with 3 matrix pencil pairs, where the eigenvalues of the matrix pencils contain the unknown parameters. Then a pairing free algorithm is developed to solve the matrix pencil based 3D estimation problem. The new algorithm results in automatical pairing of the parameters in different pencil and thus avoids a separate pairing operation.