In order to reduce the computational complexity and pair the parameters automatically in multiparameter estimation for array sensors, an algorithm for joint the Direction-of-arrival (DOA) signal and frequency signal based on a state-space model was presented. Firstly, a special state-space model with system matrices including the DOA and frequency information was constructed. Then the second order statistical properties were taken to restrain the noise by using appropriate auxiliary variable,and the extended observability matrix was estimated by using orthogonal projection theory and singular value decomposition. Finally, the estimation of system matrices was obtained from the generalized observability matrix,and the DOA and frequency of the signal were estimated from the eigenvalue decomposition of system matrix. Simulation results are presented to demonstrate the effectiveness of the algorithm,and the results show that the RMSE of frequency estimation is 0.003 5 rad and that of DOA estimation is 0.38° under the condition of estimating two signal sources with 0 dB for SNR.