Position determination systems and methods for a plurality of aircraft

Systems and methods for use in navigating aircraft are provided. A method includes transmitting messages from a plurality of aircraft within time slots of a data transmission using a data link radio of each of the aircraft. The time slots of the data transmission are divided by time. The master aircraft transmits a message within a first time slot. Each message includes position data, time data, aircraft orientation data, and intended flight path data for the aircraft transmitting the message. The method further includes, for each of the plurality of aircraft, receiving a plurality of received messages transmitted by the other aircraft within the data transmission, and generating a representation of an environment around the aircraft based on the data within the received messages. The representation includes a current position and an intended path for one or more of the other aircraft.