针对高速飞行器在三维空间中的轨迹成型制导问题，设计了能够同时精确控制碰撞矢量和飞行路程的多约束解析制导律。首先，给出弧长域中描述的三维矢量制导模型，以及侧向加速度指令的正交分解方式，该模型对多约束条件具有自然解耦特性。其次，基于古典微分几何原理，将所提定常速度大小假设下的三维碰撞矢量约束制导律推广至速度时变情形，同时该制导律具有形式简洁的全局剩余飞行路程解析解。然后，在此基础上引入控制剩余飞行路程的附加偏置矢量指令，推导了兼具落角控制和飞行路程控制双重约束能力的轨迹成型制导方法。最后，通过数值仿真验证了所提制导律在真实环境中高速飞行器模型上的有效性和优越性。

Aiming at the three-dimensional (3D) trajectory shaping guidance problem for high-speed flight vehicles, an analytical guidance law with both impact vector and flight distance constraints is proposed. First, a 3D vector guidance model described in the arc-length domain is presented, along with the orthogonal decomposition of the lateral acceleration commands. The model exhibits a natural decoupling characteristic for multiple constraints. Second, based on classical differential geometry principles, the proposed 3D impact vector constrained guidance law under the assumption of constant speed is extended to the time-varying speed scenario. This guidance law possesses a globally analytical solution for the remaining flight distance in a concise form. Then, by introducing a bias vector command to adjust the remaining flight distance, a trajectory shaping guidance method is derived with dual capabilities for both impact vector control and flight distance control. Finally, numerical simulations validate the effectiveness and superiority of the proposed guidance law when applied to a high-speed vehicle in realistic environments.