Formation control is the main subject of the coordination control of multi-agent system. The purpose of the control is to drive the system following a target position to keep some specific geometric structures by information exchange between agents. The formation geometry is described by a set of expected positions for all UAVs concerning the heading of the group. We try to display the relative position and attitudes on the formation control of numerous fixed-wing UAVs in this paper. And the behaviors of formation-hold about following are achieved by using the segment control based on unicycle-type by the heading rate of the vehicle are reviewed in this paper. Finally, the digital simulation implemented has validated the effectiveness of the proposed method.