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Aiming at the problem of how to realize the relative positioning between unmanned aerial vehicles (UAV) when satellite navigation and positioning are unreliable in complex environment, a dynamic relative positioning algorithm based on the combination of airborne inertial navigation system and data link ranging is proposed. The method using airborne data link communications ranging capacity and output of airborne inertial navigation system of UAV combined with the velocity vector information, relative positioning between the machine model is established, by the least squares method to estimate the relative position between the UAV, realizing the real-time relative positioning between UAV machine capacity. There is still an error in the relative location of the relative location that is calculated from the least squares, Aimed at least squares relative positioning error, the rank-deficit adjustment algorithm is proposed to correct the relative positioning error between uav groups. Simulation results indicate: The relative positioning method based on the least square method can slow down the divergence of relative positioning error of inertial navigation system and improve relative positioning accuracy of inertial navigation system to about 3 times, the rank-deficit net adjustment algorithm can improve the accuracy of least square relative positioning by 2 times.