The UAV swarm is the development trend of UAV technology in future. GNSS have been widely applied, however the signals are prone to be weak and blocked due to the radio interference and physical barriers under complex background. This paper describes a cooperative localization method based on DOA and RSSI fingerprints information measured between two objectives, with using uniquely a single base station. The simulation results show that the proposed method estimates the mobile nodes position with an accuracy of around 1.5m in an area of 80m×80m. The proposed method is effective in both accuracy, time-consuming, and also robust since the estimate error is not accumulated with traveled time.