针对多约束条件下三维空间航路规划问题,分析了三维规划空间的划分方法,综合考虑航程代价、爬升代价和威胁代价等因素,针对航路规划任务对各种指标的偏重程度,引入指标的权重系数,设计了代价函数,并编制了稀疏A*算法流程,对算法的有效性进行了仿真验证。验证结果表明:采用稀疏A*算法能够有效地解决多约束条件下的三维空间航路规划问题。 Considering the voyage cost, climbing cost and threat cost, considering the multi-constraint route planning problem, this paper analyzes the partition method of three-dimensional planning space. Considering the degree of emphasis of route planning task on various indexes, the index weight coefficient , The cost function is designed, and the sparse A * algorithm flow is compiled, the validity of the algorithm is verified by simulation. The verification results show that the sparse A * algorithm can effectively solve the three-dimensional space route planning problem under multiple constraints.