Recently, unmanned aerial systems have emerged in different fields such as entertainment, military, Internet of Things, emergencies, etc. In these systems, unmanned aerial vehicles (UAVs) communicate with each other based on a flying network to provide services to customers such as live streaming, high-speed access point, etc. The mobility of UAVs can bring many advantages in emergency cases such as rescuing and searching victims in areas where the network infrastructure is not available. However, the crucial task needed to be done first is to locate the victims’ coordinates. In this paper, we propose the positioning methods based on a flying network for emergencies by detecting the WiFi signals generated from victims’ phones. A structure of UAV-swarms is considered to optimize the searching time. Considering proposed methods, the influence of the error of distance measurement and the number of received signals on the evaluation of the positioning process results is simulated.