Multi-unmanned aerial vehicle cooperative dynamic direction-of-arrival estimation method

The invention discloses a multi-unmanned aerial vehicle cooperative dynamic direction-of-arrival estimation method, and the method comprises the steps: employing a plurality of unmanned aerial vehicles, enabling each unmanned aerial vehicle to carry a receiving antenna, forming a signal receiving array with a variable structure, selecting a proper array structure according to the number of to-be-measured information sources, and carrying out the estimation of the to-be-measured information sources. A fractional low-order covariance array or a virtual fractional low-order covariance array of received data under the structure is deduced, a maximum likelihood equation is further deduced, the equation is solved through a culture migrant bird mechanism, a direction of arrival estimation result of one-time snapshot is obtained, the weighted sample fractional low-order covariance array is updated through an updating equation, and a direction of arrival estimation result of one-time snapshot is obtained. The above so