Airborne array antenna SAR is used to obtain three-dimensional imaging; however it is impaired by motion errors. In particular, rotation error changes the relative position among the different antenna units and strongly affects the image quality. Unfortunately, the presently available algorithm can not compensate for the rotation error. In this study, an airborne array antenna SAR three-dimensional imaging model is discussed along with the effect of rotation errors, and more specifically, the yaw angle error. The analysis reveals that along- and cross-track wavenumbers can be obtained from the echo phase, and when used to calculate the range error, these wavenumbers lead to a target position irrelevant result that eliminates the error's spatial variance. Therefore, a wavenumber-domain subblock compensation method is proposed by computing the range error in the subblock of the along- and cross-track 2-D wavenumber domain and precisely compensating for the error in the space domain. Simulations show that the algorithm can compensate for the effect of yaw angle error.