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With the continuous development of the Internet and communication technology, unmanned aerial vehicles (UAVs) are widely used in various fields. However, the existing UAV formation control methods have poor stability and cannot maintain good position and velocity consistency. Therefore, the study proposes a UAV formation control method based on coherent joint virtual potential field, which integrates the artificial potential field method with the coherent control principle, optimizes the target unreachability, introduces inertial offset to solve the inertia problem of UAV, and designs the UAV formation control system. The experimental results show that the UAVs perform well in the position consistency test in the x and y-axis directions, and UAV 3 shows fluctuations in the displacement in the y-axis direction at 30 s, with a maximum difference of 10 m. The error between the actual hovering position and the desired hovering position of the UAV formation is 0.16 m, and the velocity fluctuations of UAV 3 in both the x and y-axis directions are in the opposite direction of the velocity of the other UAVs, with a maximum difference of 6.2 m /s and 5.8m/s, the formation transformation speed of CVPF algorithm is faster than other algorithms by 1.6s, 1.2s, 1.8s, and 2.0s respectively, and the computational complexity is only 6ms higher than that of the long aircraft-wingman method.It can be concluded that the algorithm proposed in the study can effectively control the position and velocity consistency of UAV formation, prevent safety accidents, and solve the inertia and target unreachability problems.