The concept of multi-spacecraft formation was put forward by Sholomitsky et al. in 1977 when conducting infrared synthetic aperture imaging of multiple spacecraft [1]. Spacecraft formation flying (SFF) is a way to distribute the functions of a large spacecraft across multiple smaller ones, offering enhanced system reliability, robustness, and launch flexibility at reduced costs [2]. These benefits have garnered significant attention, contributing to its widespread adoption in complex space missions [3–5]. Generally, SFF technique contains formation reconstruction and formation maintenance. Formation reconstruction is needed to adapt to the expected configuration changes caused by different mission requirements.