In the paper the coordinated flight of an autonomously controlled group of UAVs is considered. In the system, the position information exchange between the separate group agents for keeping the formation shape and fulfillment the prescribed flight mission is organized. Data transferring quality, as one of the most important navigation problems, is discussed. In the case when the high bandwith for navigation data transferring can not be ensured, it is possible to implement the adaptive coding procedure based on the adaptive adjustment of quantization range and employing the embedded state estimator. Moreover, due to a lack of the GNSS navigation continuity, reducing the position estimation errors is a topical problem. The proposed novel adaptive coding procedure can be used, ensuring the necessary data rate close to the minimal possible bound. Application of the proposed adaptive binary coder to the transferring navigation data between the quadrocopters is studied in the details. A novel adaptive coding procedure makes possible to improve data transferring quality through the more accurate estimation process. Such a property is achieved by means of the varying coder quantization level. As is shown by the simulations, the habitual adaptive coding procedure has lower accuracy, which can have a critical meaning for UAV formation control.