Aiming at the problems that there is a large difference in the positioning accuracy of the aircrafts in aircraft swarm, and the traditional leader-follower cooperative navigation structure system has low reliability and cannot fully utilize the cooperative navigation information of the swarm system, a hierarchical-structure swarm aircraft cooperative navigation method is proposed.The method stratifies the aircrafts participating in the swarm according to their positioning accuracy, and the positioning accuracy of aircrafts at the same layer is equivalent.An aircraft at low-precision layer can simultaneously receive the cooperative navigation information of multiple aircrafts at high-precision layer.Then, a cooperative navigation model based on relative distance and relative azimuth angle is established.Finally, the Kalman filter is used to correct the airborne navigation information of the low-precision layer aircrafts.The simulation results show that, the structure can effectively improve the positioning accuracy of low-precision layer aircrafts in the swarm flight system and enhance the reliability and fault-tolerant performance of the cooperative navigation system compared with the traditional leader-follower cooperative navigation structure.