Air-launched loitering vehicles have broad application prospects in reconnaissance and surveillance, communication relay, precision strike and so on. In this paper, aiming at the problem of air-launched loitering vehicles attacking multiple targets, a collaborative three-dimensional trajectory planning method based on the Dubins curve is proposed. The vehicle dynamic and kinematic constraints are incorporated in the method. Furthermore, to improve the attacking performance, the ‘human-in-the-loop’ requirement is also incorporated, and a special time interval constraint is combined. The radius of the circle in the Dubins curve is designed as the optimized variable and cooperative trajectory for multiple vehicles can be given in real time, to realize the strike of multiple targets. Simulation experiments are given, to verify the effectiveness of the proposed method.