A hybrid planning algorithm PSO-SA is presented, which is an integration of the simulated annealing algorithm (SA) and the particle swarm optimization (PSO) algorithm. PSO-SA is used to evaluate the optimal fitness value generated by PSO. PSO-SA used in route planning of cruise missile can avoid the common defect of premature convergence, accomplish the static and dynamic route planning assignment quickly, and
produce an ideal 3-D flight path. Simulations demonstrate feasibility of the algorithm. Compared to PSO, PSO-SA achieves a shorter range in the same initial locations, thus, cruise missiles consume less fuel.