Hypersonic Glide Vehicle (HGV) will be an important means for long-range delivery in the future. Trajectory planning is a fairly effective way for HGV mission designing and guidance adaptability improvement. In this paper, the target plane coordinate frame, which is used as reference coordinate system, is defined and dynamic equations with normalized energy as independent variable is derived. The equations has such advantages as fixed integral section, and its states denote cross-range and longitudinal range. Based on the equations, longitudinal and lateral trajectory planning methods are proposed. By considering lateral trajectory curvature, a three-dimensional trajectory planning method, which combines both longitudinal and lateral trajectory planning, is developed. It is able to fulfill HGV's trajectory planning quickly and accurately.
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