In this paper, we propose an ESPRIT based algorithm for target position estimation with uniform linear array (ULA) and uniform circular array (UCA) at transmitter and receiver, respectively. When UCA is adopted at the receiver, unlike the case of ULA at the receiver, the rotational invariance of the received signal is satisfied.Although there has been an attempt to resolve this issue, the problem of direction of departure estimation has not been considered. In this paper, we provide an ESPRIT based algorithm to simultaneously estimate transmitter elevation angle, receiver elevation angle, and receiver azimuth angle, taking into account the transmitter antennas as well as the receiver antennas.