The invention relates to an MIMO sonar system comprising a transmitting end and a receiving end. A transmitting array of the transmitting end is divided into a plurality of subarrays, each subarray comprises a plurality of array elements, all array elements in each subarray transmit the same waveform, all subarrays transmit different waveforms, and therefore waveform diversities are formed; in the same subarray, transmitting wave beam forming can be realized via all array elements through weighting adjustment of phase positions, and transmitting array gain can be obtained; an echo signal received by each receiving array element is subjected to matching operation via a receiving array of the receiving end, orientation estimation can be performed according to a matching result, and an incidence angle DOA of each array element can be obtained. According to the MIMO sonar system, via subarray dividing operation, all subarrays transmit different waveforms, and therefore waveform diversities can be realized. In the same subarray, the transmitting wave beam forming can be realized through weighting adjustment of the phase positions, and transmitting array gain can be obtained. Each array element in the MIMO sonar system only outputs one waveform, and complex processing of superposition of a plurality of waveforms can be prevented; in terms of hardware, only slight adjustment of a transmitter system of a conventional sonar system is needed.