A navigation and control method for tracing preset sequential airway points is proposed for the problem that the UAV is controlled to fly with the specified sequential line path. The minimum turning radius is determined based on the maximum available normal overload. The forward searching distance is calculated. The UAV velocity deviation angle and deviation angle of course line are calculated and input into the subsequent PID flight control system. The UAV can fly with preset path stably. Numerical simulation results show that the mothed can control UAV effectively to fly with clockwise or anti clockwise paths.