A simultaneous approach with partial error control on non-collocation points for formation reconfiguration of satellite formation flying is proposed. Firstly, Radau collocation points based Lagrange polynomials are utilized to discretize the group of differential algebraic equations. Non-collocation points are introduced. The collision avoidance conditions are required to be satisfied on the non-collocation points, while the error estimation of state variables are not. Then, solving difficulty of the nonlinear programming problem obtained by discretizing is reduced. Finally, the formation reconfiguration problem of three formation-flying satellites is demonstrated and simulated. The comparisons are made with the results in the related reference. The numerical results show that the proposed approach is more accurate and efficient.