In order to establish the accurate reentry model of hypersonic vehicle, the aerodynamic parameters of the dynamic equation were fitted according to NASA′ s research data. Based on the physical properties and the practical application of the aircraft material, the constraints of heat flow, overload, dynamic pressure and fly zone constraints were set up, and the nonlinear multi-coupling optimal control problem was formed. The hp-adaptive pseudospectral method was used to transform the model. Through the mesh refinement process, the time interval of the larger change of state was further subdivided, and the optimal trajectory of the condition was calculated by using the SNOPT solver solution. A closed loop controller was designed to track the trajectory changes of the optimal trajectory, and to test the performance of the system and to evaluate it. The simulation results showed that during the whole reentry process, the speed decline process of the aircraft is stationary, the reentry trajectory can satisfy the constraint conditions, and the maximum transverse range is obtained while avoiding the no flight area. The angular velocity of the three channels is convergent and controllable, and the tracking of the attitudes is ideal. Above all, the controller can basically adjust the posture.