The invention discloses an intelligent unmanned aerial vehicle track rapid planning method under multi-constraint condition, and belongs to the field of intelligent aircraft control. Firstly, the safeposition in a flight area is found before track planning according to the terrain, and the coordinates and the type of a correction point capable of positioning error correction are determined; secondly, the constraint conditions are determined according to the target, namely the flight error increment constraint, the vertical error correction constraint and the horizontal error correction constraint, and according to the planned track flight constraint and the minimum turn radius constraint, the interaction mechanism of the constraints is analyzed, and next, an aircraft track planning modelis established by taking the shortest task completion time and lowest energy consumption as far as possible as the target; and an improved Dijkstra algorithm based on the steepest descent is designedfor solving, and finally the track planning path meeting the multi-constraint condition is determined. The relatively optimal track meeting the multi-constraint condition can be quickly planned, and the method is relatively high in effectiveness and robustness; and the flight time is less, and the energy consumption is low.