This paper proposes a time coordinated trajectory planning algorithm for re-entry vehicles considering angle constraints. This method divides collaborative trajectory planning into longitudinal trajectory planning based on altitude velocity profile and lateral maneuvering strategy based on bank angle flipping. In the longitudinal plane, the paper designs an attack angle profile and constructs a flight re-entry corridor in the altitude velocity plane, considering the constraints of the re-entry process and quasi-balanced glide condition. Additionally, it determines the flight profile that meets the constraints of flight range and flight time, while in the horizontal direction, based on the terminal angle constraint, it identifies the flipping point of the tilt angle that fulfills the specified conditions. As lateral maneuvering will affect the actual flight range of the aircraft, it is necessary to re-plan the above profile in the vertical direction, continuously iterate and update until a flight profile that meets the constraints of range, time, and terminal angle is obtained. This article takes the CAV-H aircraft as an example for simulation, and the simulation results show that the algorithm can better meet the constraints of the re-entry process and terminal state, and has a certain degree of robustness.