To improve the accuracy of passive localization of multiple Unmanned Aerial Vehicles (UAVs) in collaborative tracking, a closed-loop optimal control method is proposed based on analysis of the optimal station arrangement modes and Time Differences of Arrival (TDOA) measurements.First, the expression of Geometrical Dilution of Precision (GDOP) is derived.Then, simulation analysis is made to the influence of different observation station arrangement modes on GDOP under the constraints of UAV characteristics, communication range and safe distance.Three conclusions are summarized, and the optimal arrangement for single target is proposed.Finally, based on Extended Information Filter (EIF) and two-dimensional distribution model, the closed-loop optimal control method is used to solve the collaborative tracking of multiple UAVs with TDOA measurements.Simulation results indicate that, through the proposed method, the observation stations can implement target tracking collaboratively according to the optimal station location, and the accuracy of target localization is improved.