In recent years, formation control of multi-agent has been a significant research subject in the field of cooperative control. However, previous works have mainly concentrated on forma-tion control for simple point-mass model and linear model. In contrast, this paper presents a novel cooperative algorithm for multiple air vehicles formation control, which aims to devise a control strategy based on guidance route to achieve precisely coordinated formation control for a group of fixed-wing aircraft in a complex task environment. The proposed method introduces the leader-follower structure for effective organization of the multi-agent coordination. Moreover, the Partial Integrated Formation and Control (PIFC) is adopted to design the control law for Guidance-Route based Formation Control (GRFC). Additionally, the proposed approach designs two guidance-route generation strategies for two special situations to demonstrate the effectiveness of GRFC in complex task environments. Theoretical analysis reveals that the proposed control pro-tocol for guidance command can ensure the overall stability and tracking accuracy of the system. Numerical simulations are performed to illustrate the theoretical results, and verify that the pro-posed approach can achieve coordinated formation control precisely in a complex task environ-ment.