The invention discloses a moving body route planning method for relay navigation among multiple navigation stations. According to the method, a horizontal two-dimensional space route capable of meeting various constraint conditions and allowing rapid arrival from the starting point to the terminal point is planned for a moving body on the premise that effective navigation range constraint of base stations, navigation transition constraint and curvature constraint of the moving body are considered. A road point angle encoding mode is proposed, angles replace coordinates to express the position of a road point, search space is compressed, and route expression and constraint processing are facilitated. A partial encoding scheme is adopted, only the position of the road point is encoded and optimized, and the direction is generated randomly within the range, so that the calculation cost is notably reduced, and the route planning efficiency is improved. The moving body route planning method for relay navigation among multiple navigation stations breaks through the limitation of a small navigation range of a single base station, the controllable moving range of the moving body is effectively enlarged, and the route planning problem of the moving body from the starting point to the terminal point under different constraint conditions of sea, land and air can be solved.