The multi-impulse glideslope guidance algorithm for close range rendezvous of spacecraft is presented. The algorithm takes the fuel economy and the constraints of field-of-view of navigation facilities, the minimum interval of impulses, and the maximum value of impulse into consideration. Furthermore, a consolidated model of glideslope algorithm to guide close range rendezvous (both proximity and departure) is described. By designing the relationship of exponential function between distance and speed of ideal rendezvous trajectory, the algorithm can be applied to any specified rendezvous time, and satisfies the need of decelerating during the proximity operation and accelerating during the departure operation. By defining the logarithmic mapping function, the optimized impulses can be obtained. Finally, several scenarios of the proximity and departure operations are simulated. In some scenarios, compared with the optimization method, the using of logarithmic mapping function can also economize fuel at a cost of low computational complexity. The other scenarios illustrate that the guidance algorithm can ensure a close range rendezvous motion in any direction, at any time with the fuel economy and under the constraints as well.