Communication is the basis of multi-UAVs cooperative localization. There will be some communication delay and packet loss when one UAV communicates with others, and these communication restrictions may have negative influences on multi-UAV cooperative localization. In this paper, the communication among UAVs is described as Bernoulli random variables, and two kinds of cooperative localization algorithms are proposed. One is centralized algorithm, where a kind of one-step prediction strategy is designed. The other is distributed algorithm, where a kind of prediction-compensation strategy is proposed and weighted expectation state estimation method is designed. Simulation results show the effectiveness of the proposed algorithms.

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