The invention discloses a method for planning paths of moving bodies for relay navigation of multiple navigation stations. A horizontal two-dimensional spatial path which meets various constraint conditions is planned for each moving body on the premise that effective navigation range constraints of base stations, navigation connection constraints and curvature constraints of the moving bodies are considered, and each moving body can reach an end point from a starting point via the corresponding horizontal two-dimensional spatial path. The method includes judging the difficulty level of meeting the navigation connection constraints; planning the paths by the aid of processes for planning the paths on the basis of Dubins paths if the constraints are easy to meet; planning the paths by the aid of processes for planning the Dubins paths on the basis of modes of the longest paths in connection regions if the constraints are difficult to meet. The method for planning the paths of the moving bodies for relay navigation of the multiple base stations has the advantages that limitation of narrow navigation ranges of single base stations can be broken through, controllable moving ranges of the moving bodies can be effectively expanded, the paths can be planned under multi-constrained conditions in different sea, land and air circumstances, and the moving bodies can reach end points from starting points via the paths.