To address the problem of unreasonable representation of traditional thermal constraint， an augmented high speed flight vehicle dynamic model including a thermal response model is established by thermal response equation transformation and thermal environment approximate fitting， so as to realize the thermal constraint by outer and inner wall temperature of high speed flight vehicle thermal insulation layer. To overcome the problem that leaping height attenuates quickly in the flight scheme with constant angle of attack， a trajectory design method is proposed based on Height-Velocity （H-V） feedback control. By adjusting the angle of attack with both height and velocity information， the method can realize reciprocating shuttle and leaping flight in large airspace， and further reduce the inner wall temperature of the thermal insulation layer of high speed flight vehicle. For the uncertainty of the upper boundary of the inner wall temperature under the condition of deviation， a nominal trajectory design method with the characteristics of inner wall temperature boundary is proposed. By using the most severe deviation condition of the extreme value as the input， the upper boundary constraint of the inner wall temperature of the high speed flight vehicle thermal insulation layer is realized.For the problem of large tracking error of reciprocating shuttle and leaping flight trajectory in large airspace under the condition of deviation， an online guidance method is proposed based on H-V feedback tracking. By adjusting the bank angle and the angle of attack respectively with height and velocity deviation information， the method can realize accurate tracking of nominal trajectory and satisfy the inner wall temperature upper boundary constraint. Monte Carlo simulation results show that the guidance method proposed has good robustness.