In order to improve the performance of aerial refueling rendezvous and docking, A guidance algorithm is designed to satisfy the tracking of position and velocity. In flight control loop, based on the 6-DOF model, the angular rate loop and the attitude loop are separated based on time-scale and the control law is designed using dynamic inversion. Nonlinear digital simulation results demonstrate that the controller is capable of guidance the receiver rendezvous with the tanker, and has good transient performance.