Signal processing arithmetic research to detect angle using sensors array on aviate robot

Many missions require robot to detect the precision angle of the target relative to body of itself. A way was proposed by fitting sensors array on aviate robot and then processing the signals to compute the DOA (direction of arrive). The theory and carry out way of MUSIC (Multi Signal Classification) arithmetic processing the array signals were written. Also, the arithmetic was improved to adapt the situations when the signals were interrelated or the SNRs of signals were low effectively through simulation.