A novel algorithm is proposed for estimating the direction of arrival (DOA) of linear frequency modulated (LFM) signals for the uniform circular array (UCA). Firstly, the UCA is transformed into an equivalent virtual uniform linear array (ULA) using the mode-space algorithm. Then, the short time Fourier transform (STFT) of each element's output is worked out. We can obtain the spatial time-frequency distribution matrix of the virtual ULA by selecting the single-source time-frequency (t-f) points in the t-f plane and then get the signal subspace of the array. The characteristics nature of the Bessel function allow us to obtain the multiple invariance (MI) of the virtual ULA. So the multiple rotational invariant equation of the array can be obtained and its closed-form solution can be worked out using the multi-least-squares (MLS) criterion. Finally, the two dimensional (2-D) DOA estimation of LFM signals for UCA can be obtained. Numerical simulation results illustrate that the UCA-STFT-MI-ESPRIT algorithm proposed in this paper can improve the estimation precision greatly compared with the traditional ESPRIT-like algorithms and has much lower computational complexity than the MUSIC-like algorithms.