To study the rapid penetration trajectory optimization of the hypersonic gliding aircraft considering multiple constrains a multi-phase optimization strategy was put forward based on hp adaptive pseudo-spectral method (hpAPM).The kinetic model of the hypersonic gliding aircraft was built up and the relationship between the lift coefficient and drag coefficient was fitted by using cubic spline interpolation.The models of no-fly zone and waypoint were found considering the constrains of dynamic press overload and heat flux.The principle of the hpAPM was expounded then an idea was proposed which taking the waypoints as the segment points of the trajectory.Simulation was made to the rapid penetration optimization trajectory of the hypersonic gliding aircraft with the objective of minimizing the arrival time.The results of the simulation indicated that the optimized trajectory using the multi-phase method can satisfy all of the constrains and meet the demand of rapid penetration.