In order to build the kinematics and dynamics models of the reentry segment of a nonlinear and multi-constrained gliding aircraft, the multi-interval hp adaptive pseudo-spectral method is used to optimize the reentry trajectory of the aircraft, and the optimal control quantity is obtained.The quantity is further solved, the optimal control signal of the aircraft is obtained, and the tracking control of the rolling channel of the gliding aircraft is performed.The simulation results show that the system can identify the control signal and effectively realize the attitude tracking, making the aircraft reenter the flight along the optimal trajectory.