To study the cooperative localization algorithm for multi-aircrafts， noise data collected from a high-precision micro-electro-mechanical system （MEMS） inertial measurement unit （IMU）， instead of simulation noise data， was employed to simulate the carrier platform using a MEMS/GNSS-integrated navigation algorithm to ensure that the application conditions of the positioning algorithm correspond to those in real applications. In addition， the accuracy of the passive location algorithm with only the line-of-sight（LOS）angle measurement was analyzed and improved. First，the parameters of the integrated navigation algorithm were set based on the real data of the MEMS IMU. Then， real IMU noise was added during the process of simulating the aircraft. The position coordinates of the aircrafts were obtained from the integrated navigation calculation process. Then，the mathematical model of the passive location algorithm was established based on only the LOS angle measurement. After the calculation results of the integrated navigation position stabilized，the position and velocity information of the target were estimated based on the extended Kalman filter（EKF）by employing position data. Finally，the federated filter algorithm was applied to extend the localization algorithm to a multi-machine cooperative localization algorithm，which further improved the fault-tolerant performance of the positioning system. An analysis and comparison of the geometric dilution precision （GDOP）of the dual machine positioning model and the performance of the dual aircraft cooperative positioning algorithm indicate that the proposed algorithm reduces the positioning accuracy of from 100 m to 5 m. The verification platform consists of simulated aircrafts with real MEMS sensor noise， which can determine their own positioning by utilizing the integrated navigation algorithm. Based on the federated filter algorithm，the multi-aircraft cooperative positioning is realized only for the case of the LOS angle measurement. The positioning accuracy is high，and the analysis results have practical value as reference.