Smart environment sensing and other applications play a more and more important role along with the rapid growth of device-free sensing-based services, and extracting parameters contained in channel state information (CSI) accurately is the basis of these applications. However, antenna arrays in wireless devices are all planar arrays whose antenna spacing does not meet the spatial sampling theorem while the existing parameter estimation methods are almost based on the array satisfying the spatial sampling theorem. In this paper, we propose a parameter estimation algorithm to estimate the signal parameters of angle of arrival (AoA), time of flight (ToF), and Doppler frequency shift (DFS) based on the service antenna array, which does not satisfy the spatial sampling theorem. Firstly, the service antenna array is mapped to a virtual linear array and the array manifold of the virtual linear array is calculated. Secondly, the virtual linear array is applied to estimate the multi-dimensional parameters of the signal. Finally, by calculating the geometric relationship between the service antenna and the virtual linear array, the parameters of the signal incident on the service antenna can be obtained. Therefore, the service antenna can not only use the communication channel for information communication, but also sense the surrounding environment and provide related remote sensing and other wireless sensing application services. Simulation results show that the proposed parameter estimation algorithm can accurately estimate the signal parameters when the array antenna spacing does not meet the spatial sampling theorem. Compared with TWPalo, the proposed algorithm can estimate AoA within 3∘, while the error of ToF and DFS parameter estimation is within 1 ns and 1 m/s.