In highly dynamic and rapidly changing battlefield environments，satellite navigation systems are often in a denial state，and the accuracy of the navigation system for heterogeneous missile flight clusters，originating from different sources and equipped with different navigation sensors，is severely affected，resulting in limited flight range.To address this challenge，a novel cooperative navigation system for heterogeneous missile clusters is designed.This system relies solely on the ranging information from inter-missile data links，and employs rank-loss constrained cascaded filtering technology to achieve real-time correction of navigation errors of each node within the heterogeneous missile cluster.Digital simulation verification and UAV flight test results indicate that the proposed method can effectively improve the navigation accuracy and adaptability of heterogeneous clustered missiles in complex battlefield environments，which has significant reference value for the design of navigation systems in future formations of networked weapons.