Abstract: Various types of air defense weapons pose a serious threat to the unmanned aerial vehicle's penetration. Based on the research of essential flight behavior of unmanned aerial vehicle, from the tracking principle commonly used by general air defense missiles or unmanned aircraft weapons, a new type of escaping algorithm which is based on the reverse of line-of-sight rate, is explored. Simulation results show that the proposed escaping control algorithm can e ectively help the aircraft swarm complete the escaping maneuver, and after the air defense weapon fails to intercept the target, it automatically recovers the formation and continues to fly at the intended location to continue the mission.