Abstract: Aiming at the problems of low efficiency and large delay of aircraft taxiing in busy airports, this paper proposes a taxi guidance algorithm based on 4D trajectory to realize efficient and punctual taxi of aircraft. Topology model is firstly established according to the structure of the airport, and then to improve the traditional Dijkstra algorithm, considering the road wingspan and turning constraints, an optimal glide path planning for aircraft is worked out. And according to the ATC set by the RTA for all track points distribution corresponding RTA and slide, a goal 4D trajectory is obtained. Finally, the aircraft can track the 4D trajectory under the guidance of the speed guidance algorithm. The speed guidance algorithm takes the smooth taxi of the aircraft as the target, dynamically calculates the optimal reference speed of the taxi according to the current motion state of the aircraft, and takes the aircraft performance, speed and RTA as constraints, so as to realize accurate 4D trajectory tracking. The simulation results show that the algorithm can provide a reasonable glide path for the aircraft and can reach the destination efficiently and on time under the guidance of the reference speed.