The present invention provides an underwater vehicle cooperation positioning method and system, and relates to the underwater detection technology field. The method comprises: obtaining the position state information of a current underwater vehicle below the water in the last moment; determining whether location signals sent by a GPS buoy are received at the current moment or not; if determining that location signals sent by a GPS buoy are not received at the current moment, obtaining target signals sent by the target underwater vehicle in an adjacent communication range, wherein the target underwater vehicle is at least one underwater vehicle adjacently arranged with the current underwater vehicle, and the target signals comprise underwater acoustic environment parameters and position signals; and performing updating of the position state information of the current underwater vehicle based on the target signals to obtain the position state information of the current underwater vehicle at the current moment so as to effectively relieve the technical problem that a current underwater vehicle cannot satisfy a high-precision location requirement.