Attenuated and delayed versions of the pulse signal overlap in multipath propagation. Previous algorithms can resolve them only if signal sampling is ideal, but fail to resolve two counterparts with non-ideal sampling. In this paper, we propose a novel method which can resolve the general types of non-ideally sampled pulse signals in the time domain via Taylor Series Expansion (TSE) and estimate multipath signals' precise time delays and amplitudes. In combination with the CLEAN algorithm, the overlapped pulse signal parameters are estimated one by one through an iteration method. Simulation results verify the effectiveness of the proposed method.