This paper addresses the problem of TOA and DOA estimation in IR-UWB systems. It considers a frequency domain approach for joint high resolution estimation of Time Of Arrival (TOA) and Direction Of Arrival (DOA). The proposed scheme performs timing acquisition following a two step approach: a first stage where coarse symbol timing is achieved by means of chip energy estimation and a minimum distance criterion based on the time-hopping sequence knowledge, followed by a reduced complexity high resolution TOA estimator that provides fine timing acquisition. The proposed algorithm can resolve time synchronization blindly, without the need for channel estimation and can operate on a single symbol basis. DOA estimation is then obtained from TOA estimates at each array element applying a linear estimator. The joint estimation of TOA and DOA provides robustness and potentially allows positioning with a single reference node. Furthermore, the paper derives the Cramer-Rao Lower Bound from a frequency domain signal model for a multipath channel where no assumptions are made with respect to the paths, which results in a compact closed form.