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Not really, but the game's official site (Japanese) has maps of all the stages: http://sega-afterburner.com/japanese/bri_02_f.html
Click any of the images to view the maps. Also, there are some videos on Youtube demonstrating an extremely high score run of the entire game (it's a three-parter): http://www.youtube.com/watch?v=VDTSApDzy3Y http://www.youtube.com/watch?v=rymnzaCNWmo http://www.youtube.com/watch?v=LfRbNs3UJ78