To reduce calculation time and improve optimization result, a Gauss pseudospectral method was proposed. For the attack angle was regarded as a state variable and only bank angle was optimized, which was reasonable since attack angle profile was often predesigned in engineering. Down-range of vehicle was regarded as event constraint to obtain the maximum cross-range, while the flight path angle was regarded as path constraint to eliminate skips on the trajectory. Through simulation, the footprint of CAV(common aero vehicle) is generated, which is in accordance with the theoretical analysis of the indirect optimization method.