讨论了防区外导弹的航路规划问题，针对防区外导弹所独有的特点，阐述了一种与地形紧密结合的基于最优控制理论的航路规划方法来对其进行规划。经过仿真研究，这种方法是非常有效的。它具有计算速度快，算法不容易发散，占用资源少等优点。 The paper discusses the route planning of the missile outside the zone. In view of the unique characteristics of the missile outside the zone, this paper elaborates a route planning method based on the optimal control theory which is closely integrated with the terrain to plan it. After simulation study, this method is very effective. It has the computing speed, the algorithm is not easy to diverge, take up less resources and so on.