MIMO transmission technologies have become an essential component of cellular systems such as Long Term Evolution (LTE) and LTE-Advanced. Recently, evaluating the communication performance of mobile users in cellular MIMO systems has become an urgent requirement. In this paper, we propose dynamic MIMO channel modeling for the urban environment. Our proposal is based on Geometry-based Stochastic Channel Modeling (GSCM). The cluster parameters such as the local scatterer locations around the measurement course are estimated by applying the particle filtering to measured data. We carried out radio propagation measurements in an urban environment at 3.35GHz band, and generated the dynamic channel from the measured data. The experiments showed that both the spreads and auto-correlation of Time of Arrival (ToA), Angle of Arrival (AoA) and Angle of Departure (AoD) were reconstructed within the acceptable error range in our dynamic channel model.