The present invention provides a method for constructing a security envelope of a dense formation of UAVs, the construction of which includes the following steps: S1: collecting all n The flight state parameters of the UAV, including the maximum length, width and height of the fuselage, and the maximum forward flight, backward flight, climb, descent, and lateral movement speed; S2: The spatial position points of all UAVs in the formation can be enveloped in the solution space The position and radius of the center of the minimum enveloping sphere S; S3: Calculate the maximum flight distance that the UAV formation can reach in all directions within a given safety response time; S4: According to the maximum length, width and height of the fuselage, the minimum The radius of the envelope sphere S and the maximum flight distance in each direction, solve the diagonal matrix M j ; S5: Construct the UAV safety envelope model. The method proposed in the present invention comprehensively considers the spatial position distribution, flight state and response speed of the UAVs in the formation, has low model complexity, and can be effectively used for low-altitude conflict prediction and obstacle avoidance planning of dense formations composed of multiple UAVs.