In this paper, we mainly research on the QoS (Quality of Service) routing algorithms for MEO/LEO (medium Earth orbit/low Earth orbit) double-layered satellite networks. In this type of networks, the rapidly changing network topology due to relative motion of satellites is one of the main challenges when designing an efficient routing algorithm. Specifically, the issues of high rerouting overhead and traffic routing with diverse QoS requirements remain to be resolved. This paper proposed a M-BMDP (modified bandwidth constrained minimum delay path) routing algorithm based on swarm and location for MEO/LEO double-layered satellite networks. This algorithm forms a set of LEO groups according to the footprint of MEO satellites and chooses the relative MEO satellites as its group manager. For delay sensitive traffic, the algorithm can improve the QoS as the cost of packet loss based on hop limit. And for users located in reversed crevice zone, the traffic can route through one MEO satellite to reduce the time delay. The simulation results show that the M-BMDP algorithm performs better in rerouting delay, overhead and pack loss rate compared with existing solutions.