Hierarchical Bayesian Kalman filter (HBKF) based schemes are conceived for doubly-selective sparse channel estimation in orthogonal space-time block coded (OSTBC) multiple-input multiple-output (MIMO) orthogonal frequency division multiplexing (OFDM) wireless systems. Initially, a pilot based multiple measurement vector (MMV) model is formulated for estimating the OSTBC MIMO-OFDM channel. This is followed by the development of a low-complexity, online pilot-based HBKF (P-HBKF) scheme for tracking the sparse time-varying frequency-selective channel. The salient advantages of the proposed P-HBKF technique are that it requires significantly lower number of pilot subcarriers, while also exploiting the inherent sparsity of the wireless channel. Subsequently, data detection is also incorporated in the proposed framework, leading to the development of a procedure for joint sparse doubly-selective channel estimation and symbol detection. Recursive Bayesian Cramér-Rao bounds and closed form expressions are also obtained for the asymptotic mean square error (MSE) based on the solution of the Riccati equation for the KF for benchmarking the performance. Simulation results are presented for validating the theoretical bounds and for comparing the performance of the proposed and existing techniques.