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A novel method employing an ESPRIT and Kalman filter is proposed for the one-dimensional direction finding problem of MIMO radar. The rotational invariance among the multiple equivalent virtual subarrays of MIMO radar is exploited to derive multiple estimates of the direction of each target through ESPRIT. The multiple estimates of each target are fused through a Kalman filter to refine the accuracy of estimation. Numerical examples demonstrate the effectiveness of the proposed method.