Operational task should been the basic factor on planning the UAV route, in order to presenting the dissimilar considerations between task accomplishment and safety. In this paper, the route planning problem were divided into fixed route planning and penetration route planning, and the points between the two were clarified. Then the planning methods were designed both, such as fixed route planning method based on task accomplishment degree, and penetration route planning method based on improved ant colony algorithm, which could satisfy the representative task requirements of UAV. Finally, the simulation results and the applications in operation simulation system showed that the route planning methods in this paper had both rationality and practicality.