To address the challenge of collaborative nodes being unable to accurately perceive each other’s positions in global navigation satellite system (GNSS)-denied environments (such as after hostile interference or in urban canyons), we propose a GNSS-independent collaborative positioning radio frequency (RF) sensor. This sensor estimates inter-node distances and orientations using wireless measurements between nodes, without requiring pre-deployed anchor points. First, we designed a low-nanosecond latency ranging logic circuit on field-programmable gate array (FPGA) hardware, enabling relative distance estimation between nodes via a low-latency collaborative ranging (LLCR) algorithm without synchronization. Additionally, a synthetic aperture rotating antenna system was built to construct an echo space energy distribution matrix, based on dynamic–static dual-channel phase differences for high-precision, unambiguous azimuth measurement, followed by angle and distance data integration for localization. Then, a novel RF sensor hardware system was designed that was lightweight, low in cost, and high in performance. Finally, two generations of prototype models were developed and tested in both an anechoic chamber and mounted on unmanned vehicles outdoors in fields. The results demonstrate that the proposed sensor can achieve high-precision relative position estimation between collaborative nodes in the absence of GNSS, with a positioning error of within 0.4 m, indicating that it is suitable for mounting on unmanned vehicles and other autonomous systems for collaborative positioning.