Aiming at the maneuvering problem of multi-UAVs formation, a formation maneuvering control method under fixed topology is proposed. The formation control architecture is established in the "multi-leader-wingman" mode, and the interaction topology between UAVs is established by using the rigid graph theory to determine the azimuth constraints. Combining the consistency theory and the azimuth rigidity theory, a formation algorithm is proposed, which can make the wingman follow the leader to fly in formation at a time-varying speed, and realize the scaling and translation maneuvers of the formation; By rotating the azimuth constraint of each UAV from the inertial coordinate system to the local coordinate system formed by the velocity direction alignment, the rotation maneuver of the formation is realized. The simulation results show that the method can realize the translational maneuver of the formation in the two-dimensional plane and three-dimensional space, and in the two-dimensional plane, the scaling and rotation maneuver of the formation is verified, and the rapid scaling and spatial rotation of the formation is realized.