To solve the problem of collaborative navigation of UAV swarm,a method for collaborative navigation of UAV swarm based on Gaussian Belief Propagation (GaBP) is proposed.The sensor information of the UAV itself and the ranging information of the UAV swarm are modeled through the probabilistic graphical model,and the GaBP algorithm is introduced to complete the effective fusion of collaborative information.The simulation results show that,compared with the traditional collaborative Extended Kalman Filter(EKF)navigation method,the new method improves the positioning accuracy of the UAV without satellite signals from 4.82 m to 1.97 m.At the same time,under the condition of similar performance,the computational efficiency of the new algorithm is improved by nearly 40 times compared with that of the traditional belief propagation algorithm.