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The problem of simultaneously estimating the temporal and spatial frequencies of multiple signals arriving at an antenna array is considered. The problem is relevant in a variety of applications, including pulsed Doppler radar, multipath parameter estimation and synthetic aperture radar imaging. The proposed approach has a wider applicability than existing schemes. In particular it accommodates the case of (1) arbitrary array structures, (2) temporally and spatially colored noise, and (3) general single-pole ARMA signals. Despite the generality of this approach, the computational complexity is comparatively small. The temporal signal model (e.g. frequencies) is first estimated using a state-space realization approach. The arrival angles are then found one-by-one using 1-D searches. The resulting estimates are automatically paired.