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An accurate and real-time implementable location technique for wireless sensor radio is in demand for many applications. Most of the works on wireless sensor location estimation uses received signal strength indicator (RSSI), direction of arrival (DOA) estimation, or time of arrival (TOA) estimation techniques. A precise DOA and TOA measurement results in more accurate location estimation. In this paper, we present Modified Matrix Pencil (MP) method for joint DOA-TOA estimation without using channel estimates. We also compare performance (of the Modified MP) under varying number of antenna elements, SNR and spread.