  Unmanned aerial vehicle (UAV) is becoming increasingly important in modern
civilian and military applications. However, its novel use cases is
bottlenecked by conventional satellite and terrestrial localization
technologies, and calling for complementary solutions. Multi-UAV mutual
positioning can be a potential answer, but its accuracy and security are
challenged by inaccurate and/or malicious measurements. This paper proposes a
novel, robust, and secure approach to address these issues.
