飞行器编队飞行成为当前一种新兴的飞行器工作模式，编队内飞行器间准确的相对定位是编队飞行的基本保障。全球卫星导航系统（GNSS）拒止环境下，飞行器失去全局定位信息，仅依靠局部定位信息难以获得飞行器间的相对定位信息。为了解决GNSS拒止环境下编队内飞机间的相对定位问题，提出了一种数据链与惯性导航相结合的相对定位方法。首先，采用惯性导航的方法实时解算出每一架飞行器的定位信息，并通过自身搭载的数据链将定位信息发送给其他飞行器；其次，每架飞行器基于其接收的其他飞行器的信息及数据链测量信息计算编队内飞行器间的相对位置；最后，基于飞行器连续时间序列的惯导信息及数据链测量信息，建立相对位姿优化因子图实时解算飞行器间的相对位姿。以2架飞行器编队为例进行了仿真与实验验证，结果表明该方法能够实时估计编队内飞行器的相对位置，实验结果显示：该方法将数据链测量的距离误差降低了76%，能够为编队飞行提供精准可靠的相对位置信息。

Formation flying has emerged as a prominent aircraft operational mode， necessitating precise relative positioning of aircraft within the formation as a fundamental requirement. In Global Navigation Satellite System （GNSS）-denied environments， aircraft experience a loss of global positioning information， making it challenging to derive relative aircraft positioning solely from local data sources. To address the relative positioning challenge among aircraft within a formation in GNSS-denied environments， this paper introduces a method that integrates data link and inertial navigation. Firstly， the inertial navigation method is employed to give a real-time calculation of the positioning information of each aircraft， which is then transmitted to other aircraft through its respective data link. Subsequently， each aircraft conducts measurements of the relative positions between the aircraft in the formation by using the received information from other aircraft and the data link. Finally， leveraging the continuous time series of inertial navigation data and data link measurements， a relative pose optimization factor graph is constructed to solve the relative poses between the aircraft in real time. Simulation and experimental verification are undertaken， employing a two-aircraft formation as a case study. The outcomes indicate that this method proposed enables real-time estimation of the relative positions of aircraft within the formation. Experimental results demonstrate that this method reduces the distance error measured by the data link by 76%， and can provide accurate and reliable relative position information for formation flight.