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This paper proposes a novel three-dimensional direction-of-arrival (3D-DOA) estimation method for electromagnetic (EM) signals using convolutional neural networks (CNN) in a Gaussian or non-Gaussian noise environment. First of all, in the presence of Gaussian noise, four output covariance matrices of the uniform triangular array (UTA) are normalized and then fed into four neural networks for 1D-DOA estimation with identical parameters in parallel; then four 1D-DOA estimations of the UTA can be obtained, and finally, the 3D-DOA estimation could be obtained through post-processing. Secondly, in the presence of non-Gaussian noise, the array output covariance matrices are normalized by the infinity-norm and then processed in Gaussian noise environment; the infinity-norm normalization could effectively suppress impulsive outliers and then provide appropriate input features for the neural network. In addition, the outputs of the neural network are controlled by a signal monitoring network to avoid misjudgments. Comprehensive simulations demonstrate that in Gaussian or non-Gaussian noise environment, the proposed method is superior and effective in computation speed and accuracy in 1D-DOA and 3D-DOA estimations, and the signal monitoring network could also effectively control the neural network outputs. Consequently, we can conclude that CNN has better generalization ability in DOA estimation.

A Novel Approach to 3D-DOA Estimation of Stationary EM Signals Using Convolutional Neural Networks