The invention discloses a path planning method of a moving body under multi-station relay navigation. The method comprises the steps of inputting path planning information; modeling a navigation station environment to form a topologic network diagram and an adjacent relation matrix; listing all possible navigation station combinations; according to each navigation station combination, adopting differential evolution algorithms including problem special knowledges for carrying out path planning, and adopting paths outputted by the algorithms finally as candidate paths; comparing all of the candidate paths, adopting the best path as a final planning path, and adopting a navigation station combination corresponding to the final planning path as a finally selected navigation station combination. According to the path planning method of the moving body under multi-station relay navigation provided by the invention, a manner of relay navigation of multiple navigation stations is adopted, the path meeting various constraints and quickly arriving a target point is planned for the moving body to execute a remote task, the limitation of a small single-station navigation range is broken, a controlled moving range of the moving body is effectively extended, and the problem of path planning from a starting point to an end point for the moving body with different air-sea-land situations under multi-constrained conditions can be solved.