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The Cooperative Navigation (CN) method that fuses the observation of onboard sensors and relative information between UAVs is a research hotspot. Aiming at the efficiency and accuracy problems of previous studies, this article proposes a hybrid-CN method for UAV swarm based on Factor Graph and Kalman filter. A global Factor Graph is used to combine Global Navigation Satellite System (GNSS) and ranging information to provide position estimations for modifying the distributed Kalman filter; distributed Kalman filter is established on each UAV to fuse inertial information and optimized position estimation to modify the navigation states. In order to provide time-consistent GNSS position information for the Factor Graph, a time synchronization filter is designed. The proposed method is tested and verified using standard Monte Carlo simulations, simulation results show that it can provide a more precise and efficient CN solution than traditional CN methods. <\/jats:p>","DOI":"10.1177\/15501477211064758","type":"journal-article","created":{"date-parts":[[2022,1,25]],"date-time":"2022-01-25T10:39:43Z","timestamp":1643107183000},"page":"155014772110647","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":25,"title":["A hybrid cooperative navigation method for UAV swarm based on factor graph and Kalman filter"],"prefix":"10.1177","volume":"18","author":[{"given":"Mingxing","family":"Chen","sequence":"first","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4619-4384","authenticated-orcid":false,"given":"Zhi","family":"Xiong","sequence":"additional","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5472-2250","authenticated-orcid":false,"given":"Jun","family":"Xiong","sequence":"additional","affiliation":[{"name":"School of Internet of Things, Nanjing University of Posts and telecommunications"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Rong","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2022,1,25]]},"reference":[{"key":"bibr1-15501477211064758","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2020.105826"},{"key":"bibr2-15501477211064758","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2020.2973193"},{"key":"bibr3-15501477211064758","first-page":"157","volume-title":"Proceedings of the 2015 international conference on unmanned aircraft systems (ICUAS)","author":"Hansen JM"},{"key":"bibr4-15501477211064758","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2019.2953687"},{"key":"bibr5-15501477211064758","doi-asserted-by":"publisher","DOI":"10.1007\/s42405-018-0081-8"},{"key":"bibr6-15501477211064758","volume-title":"Proceedings of the AIAA infotech @ aerospace conference","author":"Sharma R"},{"key":"bibr7-15501477211064758","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2020.3043543"},{"key":"bibr8-15501477211064758","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2018.09.035"},{"key":"bibr9-15501477211064758","doi-asserted-by":"crossref","unstructured":"Cledat E, Cucci DA. 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