Series of studies have been carried out to meet the minimum requirements of navigation and positioning performance of marine ships and their formations in the satellite denial environment. Firstly, the basic theory of linear array comprehensive angle measurement is analyzed, the linear array is simulated by genetic algorithm, and the linear array angle measurement is studied by spectral estimation. Secondly, the comprehensive angle measurement of circular ring array is analyzed in theory, the comprehensive calculation of circular ring array and cylindrical array and the simulation of spectral estimation angle measurement are carried out, the angle measurement of direction under different array elements and signal-to-noise ratio are analyzed, and the simultaneous angle measurement of multiple signals is simulated. Finally, the basic idea of angle positioning is described, and the possible forms of angular measurement by ship sensor array are proposed. The positioning data are analyzed and filtered. The results show that the related technology has positive reference significance for the navigation and positioning of ships.