为保证空舰导弹的最佳攻击效果，借鉴水空介质航行器的相关研究思路，提出一种将导弹末端突防航路扩展至水下的攻击模式，并对其全局航路规划进行了研究。首先对目标舰艇对空及对海的综合防御能力进行了分析与建模，为保证规划算法效率，利用多种群粒子群优化（MPSO）算法进行寻优搜索，设计了相应的适应度函数和进化策略，最后给出仿真算例。仿真结果表明，该方法可以实现不同介质空间**全局航路规划。

To ensure the best attacking effect of the air-to-ship missiles,an attack pattern extending the endgame penetration route of the missiles to underwater was proposed,referencing to the research idea of air/water trans-media vehicle,and study was made to its global path planning.Analysis was made and a model was established for the comprehensive defense capability of the ship to air and sea.Then,to guarantee the efficiency of the planning algorithm,the Multi-colony's Particle Swarm Optimization (MPSO) algorithm was used for optimal searching.The corresponding fitness function and evolutionary strategy were designed,and simulation was made.The simulation result shows that the algorithm can achieve global path planning to the weapon passing through different media.