In this paper, the two-dimensional coherent DOA estimation algorithm based on the TOEPLITZ matrix reconstruction is designed for real-time regulatory drones, and the virtual line array model is established to receive the drone coherent signal, and the

signal is realized by matrixing the covariance matrix. The Toeplitz matrix is built, and the two- dimensional DOA estimation for

drone signals is achieved by calculating spatial spectrum. Simulation analysis shows that the DOA estimation accuracy rate of this

paper is high and better performance.