This paper is a study of the first two questions of the 2022 Higher Education Society Cup National College Students Mathematical Modeling Competition. When the UAV swarm flies in formation， in order to maintain the formation formation， the position of the UAV is adjusted by the method of pure azimuth passive positioning. Based on the idea of enumeration in the first question， a positioning model is established for the geometric relationship between the receiving signal drone and the transmitting signal UAV. The second question is to use the cross-triangle positioning， through the positioning line of the launch point， construct the positioning triangle， establish a three-station passive positioning model， push the passive positioning of multiple stations， according to the enumeration of the station group， solve every three-station combination， obtain the mean and variance of each group， compare and analyze the data to obtain the coordinates of the point to be measured， and realize the effective positioning of the UAV.