Due to the good estimation performance in the case of off-grid, the gridless DOA estimation algorithms attract extensive attentions and researches in recent years, among which the most representative is the one based on Atomic Norm Minimization (ANM). With the development of Decoupled ANM (DANM) algorithm, the application of ANM to the field of two-dimensional DOA estimation is possible. However, the traditional DANM algorithm and its subsequent improved algorithms are only suitable for Uniform Rectangular Array ( URA) or Sparse Rectangular Array ( SRA), and is not suitable for planar arrays with arbitrary geometry. In order to solve the above problem, a gridless DOA estimation algorithm, B-DANM algorithm, is proposed for planar arrays with arbitrary geometry. B-DANM algorithm exploits the first Bessel function to expand the covariance data of the received signal of the actual planar antenna array, so as to obtain the DANM algorithm framework suitable for planar arrays with arbitrary geometry, and then the final DOA estimation result is obtained by solving the Semi- Definite Program (SDP) problem, Vandermonde decomposition of Toeplitz matrix, pairing of estimation parameters and angle transformation. The simulation results show that the B-DANM algorithm has the advantages of accuracy and resolution compared with the traditional two-dimensional DOA estimation algorithm in the direction finding system of planar arrays with arbitrary geometry.