Abstract ：For the problem of multi-constrained trajectory planning of gliding vehicle in the unpowered glide phase, a set of fast solving algorithms is presented based on convex optimization method. The algorithm establishes an extended dimension state model by introducing control derivative, obtains discrete optimization problems based on piecewise Gaussian pseudo-spectral method, and accelerates the convergence solving process by relying on three designed target penalty functions. The simulation results show that the algorithm can quickly converge to a set of feasible solutions of the original problem at any initial value that does not satisfy the constraint, and the computational efficiency is higher than that of the traditional Gaussian pseudo-spectral method. Key words ： gliding vehicle nonlinear programming sequential convex optimization piecewise Gaussian pseudo-spectral method penalty function 李小伟1, 史俊武2, 张建武1. 基于车-轨耦合的轨道特种车辆横向建模及参数优化 [J]. 上海交通大学学报（自然版）, 2013, 47(02): 236-241. 薄翠梅a, b, 汤吉海a, 乔旭a, 丁良辉a, 崔咪芬a. 苯氯化侧反应精馏过程的模拟优化与系统实现方法 [J]. 上海交通大学学报（自然版）, 2011, 45(08): 1157-1161. 谢亮1, 江晓东2, 李少华1. 基于混合校正内点法的最优潮流 [J]. 上海交通大学学报（自然版）, 2011, 45(06): 804-808. 张宝吉，马坤. 基于Rankine源法的船体线型优化设计
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