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Aiming at the problem that multi-UAVs cannot navigate for a long time when they are flying in formation only relies on inertial navigation in complex environment where satellite navigation is restricted, a positioning error correction method based on ultra wide band (UWB) assisted inertial navigation is proposed. The principle of UWB ranging is given, and the relative distance calculation model of inertial navigation in the UAV body coordinate system is established. Based on the inertial navigation error model, the Extended Kalman filter model of error correction is designed by taking the inertial navigation error and the UWB distance measurements as the state quantity and the observation quantity respectively. Simulation and verification of the algorithm using two unmanned aerial vehicles as examples, the results show that compared with the pure inertial navigation system, the maximum positioning error of this method is less than 1m in the three directions of ENU, and the root mean square error of velocity is not more than 0.01 m/s. This method effectively inhibits the error divergence of the velocity and position with inertial navigation, and provides a reference for solving the positioning problem of multi-UAVs formation flying in the satellite rejection environment.