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Bistatic multiple-input multiple output (MIMO) radar can achieve target localization by estimating the transmit and receive angles. In this paper, an ESPRIT based three-dimensional (3-D) localization algorithm is proposed for bistatic MIMO radar system with a uniform circular array on transmit and a uniform linear array on receive. Transmit azimuth, transmit elevation angles and receive cone angle are estimated by using the receive data. The 3-D coordinates of the target are then calculated by using the geometry between targets and radar. The accuracy of target localization is independent of the signal bandwidth as the range of the target is not required. Also the time synchronization is avoided in process of the target localization. Simulations demonstrate the effectiveness of the proposed method.