Based on the traditional method of iterative guidance,which only controls the engine’s thrust direction, the pitch angle control process was divided into two sections, which carry on the revision separately to two position components and realize the control for six state components of the rocket. When the rocket arrives at the end point, it simultaneously has satisfied the terminal constraint of three velocity components and three position components and strengthened the adaptability of iterative guidance method. The example results indicate that the improved method further increase the guidance accuracy and the position deviation reduces a magnitude. At the same time, this method has not increased the computation amount of iterative guidance, which is advantageous for the rocket-borne computer’s realization, so it has certain project significance.