Abstract: It's an effective way to improve the guidance adaptability for hypersonic glide vehicle (HGV) by applying trajectory planning. First, the target plane coordinate frame was defined. Then, taking the coordinate frame as the reference coordinate frame, dynamic equations with the normalized energy as independent variable were deduced, which have the advantages of fixed integral interval, and cross-range and longitudinal range could be denoted by the equation states. Based on the equations, longitudinal trajectory planning method was put forward as well as lateral trajectory planning method. With the combination of above methods and the trajectory of lateral curvature, a three-dimensional trajectory planning method has been implemented. It is shown that the proposed method can fulfill trajectory planning for HGV rapidly and accurately.