Aiming at the formation problem in the cooperative navigation of unmanned aerial vehicle swarm, a cooperative position error analysis method based on cooperative dilution of precision is studied in this article. During cooperative flight, the unmanned aerial vehicle swarm can use the received position and ranging information of the adjacent unmanned aerial vehicles to calculate the position, and fuse with its own sensor position information. The final positioning accuracy depends not only on the capability of the ranging sensor but also on the position accuracy and formation of the adjacent unmanned aerial vehicles. In this article, these influence factors are combined to put forward a cooperative dilution of precision calculation method suitable for unmanned aerial vehicle swarm cooperative navigation. On this basis, a cooperative integrated navigation method based on ranging information is designed. Finally, the performance of cooperative navigation of unmanned aerial vehicles in different formations is simulated and analyzed. The simulation result shows that the cooperative dilution of precision method proposed in this article can effectively analyze the influence of formation on the positioning accuracy of unmanned aerial vehicle swarm, and the final combined positioning result is consistent with the cooperative dilution of precision analysis result.
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