Abstract: A method for estimating an angle of arrival of multiple targets moving at a high speed includes defining a range and a resolving power of an angle of arrival and an angular velocity of a plurality of direction finding targets (S1100), setting minimum values of the angle of arrival and the angular velocity within the range to be a set angle of arrival and a set angular velocity (S1200), and adding angle of arrival resolution and angular velocity resolution to the set angle of arrival and the set angular velocity, respectively, deriving a two-dimensional spatial spectrum of a transformed incident signal using a pre-steered vector until the angle of arrival and the angular velocity become a maximum value, and estimating a peak value of the spatial spectrum as a measured angle of arrival and a measured angular velocity of the target (S1300).