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In this paper, two low complexity yet hight accuracy algorithms, modified TST-MUSIC(MTST-MUSIC) and 3D JADE- ESPRIT are presented to estimate two dimensional angles and time delays in rectangular planar array(RPA). A 3D ESPRIT-like shift-invariance technique is used to separate and estimate the 2D DOAs and time-delays in the 3D JADE-ESPRIT algorithm. The basic idea of the MTST-MUSIC method is to group and isolate the signal of each incoming ray using the space-time characteristics of the multiray wireless channel. Simulation results demonstrate that the MTST-MUSIC algorithm outperforms the 3D JADE-ESPRIT algorithm in performance.