This paper presents an ultra wideband (UWB) indoor channel sounding scheme with a technique for estimating time of arrival (TOA) and angle of arrival (AOA) based on measurements. Since the UWB power spectrum can be measured in advance, we can utilize the spectrum to design a more suitable UWB signal model than traditional signal models based on narrowband and linear theory. We propose a technique for the UWB channel estimation using division of time domain signal transforming from the measured spectrum into subregions, and a proper pairing the elements of TOA vector and that of AOA vector using the correlation method with the UWB signals model. Since we can determine the number of paths and these channel parameters in each subregion, the proposed channel estimation will not suffer from error propagation. We evaluated the proposed techniques using a vector network analyzer with a three- dimensional virtual antenna array.