In order to carry out coordinated flight planning of multiple missiles simultaneously attacking targets from a specified direction. Based on the sparse A algorithm, the node is extended according to the missile flight constraint and the trajectory smoothing method; the angle to attack constraint is realized by increasing the control point and adjusting the cost function; assuming that the multi-missile speed is the same, re-planning other tracks by selecting the desired length; the nodes perform time-space security detection and resetting to avoid collisions among the missiles; finally, the trajectory is smoothed to obtain flightable tracks that meet the constraints of flight and attack. The simulation results show the effectiveness of the algorithm.