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Based on fourth-order cumulant, a new method is proposed to estimate the frequency and 2-D arrival angles of coherent signals, which is called cumulant-based time-space smoothing (CTSS) algorithm. Firstly a time-space smoothing matrix is constructed by temporal and spatial data of two uniform parallel linear arrays, and then 3-D parameters of coherent signals can be obtained from its eigenvalues and the corresponding eigenvectors. In colored Gaussian noise, the algorithm can precisely estimate 3-D parameters of coherent signals, and doesn't need multidimensional spectrum peak search with 3-D parameters paired automatically. In addition, it can still estimate correctly 3-D parameters of signals when signals have the same one or two dimensional parameters. Computer simulation confirms its effectiveness.