信号处理中的旋转不变子空间法，基于chebyshev的水声信号分析，包含飞行器飞行中的姿态控制，如侧滑角，倾斜角，滚转角，俯仰角。- Signal Processing ESPRIT method, Based chebyshev underwater acoustic signal analysis, It comprises aircraft flight attitude control, such as slip angle, tilt angle, roll angle, pitch