Abstract: A signal angle and signal frequency estimation method, appartus, device and storage medium are provided. The signal angle and signal frequency estimation method comprises the steps: collecting initial data of a satellite signal by means of an antenna array (S10); substituting initial data into a signal function, and finding a solution to obtain the satellite signal (S20); and obstaning the angle and a frequency of the satellite signal according to the satellite signal (S30). According to the method, in consideration of the non-Gaussian noise environment as well as spatial domain sparse feature and frequency domain sparse feature of the satellite signal, the angle and a frequency of the satellite signal are estimated jointly, thereby facilitating subsequent obtaining and tracking the satellite signal by a satellite navigation receiver.