In view of difficult determination of control parameters in case of dramatic change of aerodynamic parameters and high requirement for control accuracy, a dynamic control method with full flight envelopes was proposed. In this paper, the optimization solution of control parameters in different flight states and environment was obtained by adopting genetic algorithm, and then through interpolation query, the needed control parameters were got under real-time flight state. Therefore, the dynamic control method was implemented, and the missile's precise control parameters in different flight moment were achieved. Based on simulation of a six-degree-of-freedom model of certain antiaircraft missile, the result shows that the method is feasible and can achieve good control effect.