The present disclosure provides a communication device which is suitable for use in an unmanned aerial vehicle operating in an unmanned aerial vehicle collaboration system including multiple unmanned aerial vehicles and enables both a data communication with another unmanned aerial vehicle and a measurement of a distance to another unmanned aerial vehicle. According to an aspect of an exemplary embodiment, a communication device of an unmanned aerial vehicle includes: an ultra-wideband (UWB) communication circuit configured to perform a UWB communication with other unmanned aerial vehicle; and a UWB communication manager configured to send transmit data to the other unmanned aerial vehicle and receive data sent by the other unmanned aerial vehicle through the UWB communication circuit, and transmit or receive shared data to be shared by unmanned aerial vehicles in a form of being appended to a distance measurement frame.