The path planning for warship-aircraft joint operation is studied. Firstly, the weapon system of the destroyer is analyzed to obtain the safe distance when the shipboard helicopter and the destroyer are performing a task cooperatively. Since the traditional A* algorithm cannot be applied directly to the path planning for warship-aircraft joint operation, the security costs and the path safety factor are introduced. An improved weighted A* algorithm is given based on the traditional algorithm, to solve the path planning problem for warship-aircraft joint operation. Finally, a case simulation is given to verify the effectiveness of the improved algorithm.