The spacecraft on highly elliptic orbit flies over their apogee in the most part of one period. So this kind of orbit can be used to realize long term communication and airborne early warning for high latitude areas, which is significant if applied in military. The kinematics of multi-spacecraft formation is required to deal with space missions such as the exploration of space magnetic fields and the information interference. Formulations of the relative motion on highly elliptic orbits are developed by kinematic method which takes the relative orbit elements as the variable, and then the precision of the formation is analyzed. Based on the formation, several special relative formations including the linear circular elliptical and isosceles triangle ones are discovered, and the conditions to form these formations are presented. Under the circumstance of two-body, the results from simulation show that the more close of the spacecrafts, the more accurate of the formations.