In situations such as emergency rescue and individual combat where GNSS signals are denied and navigation and positioning infrastructure cannot be set up, the Pedestrian Dead-Reckoning (PDR) technology based on Inertial Measuring Units (IMU) is usually used to measure Pedestrian gait information. According to the formation characteristics of such mission with multi-person operations, the ultra-wideband (UWB) technology is used to implement formation Ad Hoc network and mutual inter-network ranging. The PDR/UWB multi-pedestrian extended Kalman filter (EKF) model is established. By constraining PDR with the ranging information, the divergence of PDR positioning accuracy with time is effectively alleviated, and the multi-person cooperative navigation is realized. The experimental results show that the centralized cooperative navigation system based on UWB can improve the overall positioning performance of formation by 30% without relying on infrastructure.