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Optical images taken by Unmanned Aerial Vehicle (UAV) to gain the coordinates of interested target on the ground, which is widely applied to the field of military and civil. But the disadvantages of this method are unstable positional accuracy and low efficiency when using a single UAV. In response to these problems, an interesting target positioning system based on cooperative UAV is designed. Through the simultaneous observation of the same ground interested target by three UAVs, in the process of target positioning, according to the perspective projection principle, and combined with the attitude data acquired by the UAV, the on-board online real-time positioning is realized by the host data processing system. What's more, in order to improve the positional accuracy, a collaborative target localization method based on inner triangle centroid algorithm is proposed. The Monte Carlo method is used to simulate the experiment. The spatial positioning error is 26.6 meters. The numerical simulation and flight test results show that compared with the traditional single-machine target positioning system, the coordinated UAV target positioning system can effectively utilize more. Observing information has higher accuracy of intersection based on effective improvement of target positioning efficiency.