E.C. Tubb 
Earth is Heaven 
The Dumarest Saga Book 27

All the signals seemed set at "go." For Earl Dumarest had found people who believed in the legendary Earth. He had found the coordinates of the Sun and its attendant planets. And he would have the starship with a faithful crew of colonists for whom Earth was the paradise of their dreams.But before he could reach that ideal moment, Dumarest would have to fight his way out of a demonic Cyclan trap as well as unravel a very tricky web of planetary conspiracy.Only if he could achieve those desperate goals would he be able to set out on what he hoped would be the final lap of his long galactic trek . . .(First published 1982)