The invention discloses a multiple optimization based cluster UAV coordinated location method, and belongs to the technical field of positioning and navigation. Normalized distance measuring value between reference UAVs as well as normalized distance measuring values between a to-be-located UAV and the reference UAVs are optimized, so that the normalized distance measuring values between the UAVsare more reasonable; a distance normalization unit of the to-be-located UAV is optimized, so that the distances from the to-be-located UAV to the reference UAVs can reflect comprehensive characteristics of a cluster more accurately; and influence of configuration of the reference UAVs on a location result is taken into consideration, and cluster location information is used in an integrated way toimprove the location precision. Compared with a cluster UAV location algorithm without optimization, the method of the invention can obtain a higher location precision in a cluster in irregular distribution and is suitable for practical application.