To solve the problem of collision avoidance control in UAV formation cooperative operations, a distributed collision avoidance control method of UAV formation based on dipolar navigation function and Model Predictive Control (MPC) is designed.Firstly, the navigation function and control law of each UAV are established by using current position and target position of other UAVs in the neighbor set.Then, a distributed high-level formation control law based on MPC is designed and a distributed MPC algorithm is given.Finally, five UAVs flight to the target points designated to each UAV at the stage of terminal attack is taken as an example, and the collision avoidance control method of UAV formation is simulated.The simulation results show that the collision avoidance control method of UAV formation cooperative operations based on navigation function and MPC is effective.