How to provide the ground and aerial unmanned system with the ability of continuous autonomous positioning, and use different combat units to improve the overall positioning capability, is the key to maintain the unmanned swarm flying in the satellite rejection environment. This survey gives progress in relative navigation used in UAV teaming in the recent years and gives points of interests in the future. Firstly, we presented varieties of methods of navigation enhancement in the case of satellite rejection. Secondly, methods of relative ranging and inertial sensor fusion are presented as relative ranging is a possible source that can be got in UAV teaming. At last, evaluation of positioning performance related research and usage of sensor fusion result in path planning is discussed.