In response to the need for a coordinated attack on multiple ground-moving targets within a three-dimensional setting by unmanned aerial vehicle (UAV) swarm, this research has crafted a method for target allocation within the UAV swarm. This method is predicated on the dynamic adjustment of distance matrices. Furthermore, a time-coordinated control law for UAV swarm is proposed contingent upon the convergence of the error variable of the attack position under the terminal time conditions. First, the UAV swarm collaborative attack mission profile was analyzed according to the time sequence relationship, and the expected configuration and motion model of the UAV swarm were established. Secondly, in order to avoid conflicts, attack positions are allocated to the UAV swarm, and on this basis, a time-coordinated control law for the UAV swarm is proposed. The law passed the theoretical verification of Lyapunov function. Finally, simulation experiments are used for verification. The results show that the proposed UAV swarm collaborative attack positions allocation method and time-coordinated control law can ensure accurate arrival at relatively preset attack positions within a specified terminal time and complete multi-angle coordinated attacks on multiple ground-moving targets.