The invention discloses a two-way frequency hopping and probability simultaneous co-frequency full-duplex combined communication method, which solves the problems of low frequency spectrum utilizationrate and not high co-frequency full-duplex interference resistance in a frequency hopping system in the prior art. The method comprises the following specific steps: firstly, a terminal node adopts aquadrature phase shift keying QPSK method to modulate a signal; secondly, two-time fast and slow frequency hopping is carried out on the modulated signal; thirdly, the probability of simultaneous co-frequency full-duplex transmission is calculated by a terminal node; finally, self-interference elimination is carried out on the signal needing to be subjected to self-interference elimination by theterminal node, and then, de-hopping and demodulation are carried out to obtain a transmitted signal. The method in the invention is applicable to mutual communication of transmitting and receiving signals at the same time and at the same frequency, and the frequency utilization rate and the anti-interference performance of a cooperative communication system are improved.