Array frequency modulated continuous wave (FMCW) radar is widely used across various platforms to estimate the range and angle of targets using large bandwidth and array angle measurement technology. However, limited platform space and antenna aperture can make obtaining high-precision angle estimations challenging. To address this, a rangeangle estimation algorithm based on spatial and temporal sparse extending is proposed. The algorithm extends the array using a nested array in the spatial domain and a sparse virtual array sampled at different locations through platform movement in the temporal domain. The resulting spatial-temporal extended array is equivalent to a large aperture virtual uniform linear array, improving the angle resolution through difference and spatial smoothing processing. By making full use of spatial and temporal information, this method achieves high-precision angle estimation with fewer array elements.