A new equilibrium-glide state-feedback guidance method based on generalized reference-trajectory was presented for the glide of long-range boost-glide vehicles, considering all path constraints. The 3DOF dynamic equations of boost-glide vehicles were established, and the path constraints were specified. Next, the principle of the guidance method was explained in detail. At the same time, the basis guidance law was designed, and its longitudinal parameter was set by LQR (linear quadratic reentry guidance methods), the new guidance method adjusted the trajectory by the change of angle of attract, and the bank angle profile was small through the glide phase. The simulations show that the new guidance method can satisfy the glide guidance problem of long-range boost-glide vehicles, and have the characteristics of being robust and adaptive. 