<p>To avoid detection by surveillance satellites and protect the security of spacecraft information, this paper proposes a collaborative covert trajectory planning methods for spacecraft formation based on configuration transformation and maintenance. This paper introduces the spacecraft formation collaborative covert mission scenario and the relevant equations for trajectory planning. Based on the limitations of optical cameras in tracking targets, the core idea of this method is to utilize the cover provided by the covering spacecraft for the hidden spacecrafts to achieve stealth. The complexity of the problem is effectively reduced by optimizing the covering spacecraft and hidden spacecrafts trajectories in two steps, and introducing path control parameters. The collaborative covert trajectory planning method for spacecraft formation proposed in this paper can effectively avoid being monitored by surveillance satellites, and make the spacecraft that does not have stealth capability realize stealth effect. Finally, the effectiveness of the proposed algorithm is verified by numerical simulation, and the spacecraft formation successfully completes the scheduled space mission and evades detection by surveillance satellites.</p>