Aiming at the cooperative take-off and landing scenarios of carrier-based UAV,the mission profile of carrier-based UAV formation during take-off and return is given.The flight route design requirements of each flight stage are put forward,and the flight routes of carrier-based UAVs in take-off waiting stage,approach waiting stage,landing stage and wave-off waiting stage are designed respectively,and the whole flight route of autonomous cooperative take-off and landing of carrier-based UAV formation and its corresponding flight key points are obtained.Finally,the designed flight route is simulated and verified by Matlab,and the simulation results verify that the designed flight route meets the corresponding design requirements.