It is hoped that there will never be a war in the world, but one of the defensive requirements of any country during the war is the missiles used for destruction and defense. Todays, missiles movement from origin to destination is an important problem due to abundant application of missiles in wars. This is important because of the range of some missiles is low and other are very high. Parametric indeterminacy are several factors in missile movement prediction and trajectory such as speed, movement angle, accuracy, movement time, and situation and direct control. So this research trying to provide a method based on LQR controller with 3d Kalman filter and then set motion and specify path without deviations based on Firefly Algorithm. It is expected that the results of an appropriate evaluation can be obtained by simulating the MATLAB environment and graphic display of a cruise missile.