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Unmanned Aerial Vehicle (UAV) has enormous application in military and civilian. Compared with a single platform, cooperative UAVs offer efficiency and robustness in performing complex tasks, and multi-UAVs΄ coordinative operations are recently becoming a focus of research. In this paper, a direction finding and location system for Multi-UAVs is proposed, which is based on the navigation strategy of the minimizing target location accuracy. In order to reduce the influence of the direction finding error, this article uses the data fusion method of adaptive UKF to achieve optimal position. This objective is to release the dependence of normal UKF on the priori knowledge of noise distribution, which is difficult to obtain in real systems. The experimental results validate that the presented method is valid. Compared with the conventional methods using UKF, this system based on adaptive UKF has high accuracy and robustness. [ABSTRACT FROM AUTHOR]