This paper proposes an optimal guidance method based on orbital element constraints, for the guidance problem during orbital transfer of spacecraft. The optimal control model for the spacecraft is established in the earth centered inertial coordinate frame directly. The relationship between expressions for the position and velocity and the initial values of costate variables is then given. Besides, five orbital element constraint equations are derived without constraint on the true anomaly. The other two constraint equations are given based on the analysis of characteristics of orbital elements and costate equations under the optimal control framework, which include the constraint and scale property of the established optimal conditions, respectively. The initial values of costate variables can be obtained by solving the seven complete constraint equations, and the optimal thrust direction can then be given. Simulations demonstrate the effectiveness of the proposed guidance method.
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