Community detection is an important task for identifying the structure and function of flying sensor networks. In this paper, we present a novel overlapping community detection method, O-LFM, to reuse overlapping beacon nodes in UAV flying sensor networks. In order to fully exploit the importance of nodes located at the edge of the interference area, we designed a collaborative localization scheme based on LFM community detection and centralized MDS collaborative localization algorithm. This solution solves the problem of reasonable allocation of beacon node resources at the edge of the interference area, improves the overlap rate of beacon nodes between communities, and thus enhances the overall positioning accuracy of the UAV swarm. It also improves the informationization and intelligence level of navigation and positioning of the swarm as a whole. The efficacy of the proposed method has been established through experiments on various UAV flying sensor network scenarios.