The duration and distance of information transmission are the primary factors in underwater formation cooperative driving errors of navigation and placement. Time-related errors are connected to transmission lag, clock skew, and other elements. It is challenging to measure how different variables like water temperature, ocean current, and sea depth effect transmission distance inaccuracy. The Kalman filter technique is employed in this study to simulate the trajectory of the micro-platform, examine the mechanisms causing navigation and positioning mistakes, sort the errors into systematic and random errors, and categorise the errors. The positioning error characteristics of the micro-platform in the coordinated movement of underwater formation are investigated in conjunction with the multiple linear regression model and the approach based on Bayesian particle filter. To achieve the compensation and estimation of the positioning error, the experimental settings are altered, and the corresponding connection between the dependent variables and independent variables in the model is examined.