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In this letter, we focus on the efficient channel estimation problem for millimeter wave (MMW) systems with massive antenna arrays and RF constraints, aiming at achieving a fast and high resolution angle-of-arrival/angle-of-departure (AoA/AoD) estimation. We first propose a presentation of antenna array with virtual elements (AAVE) by appending additional virtual antenna elements into the original antenna array. On the basis of the AAVE structure, we explore the channel sparsity in the angular domain and develop an efficient angle estimation algorithm by using compressive sensing theories. We then proposed a training design and prove that the sensing matrix in the proposed training can guarantee the accurate detection of angles with a high probability. Both the analytical and simulation results show that, without changing the physical antenna arrays, the proposed approach can achieve not only a lower …