Abstract:  The velocity increment during Mars capture maneuvre is large, which results in large fuel consumption. Thus, focusing on Mars atmosphere characters such as low density and large environmental uncertainty, an aerocapture guidance algorithm is developed based on both analytical and numerical predictorcorrector methods for blunt shape robotic aerocraft, which is designed to realize the orbit transfer from Mars approaching hyperbolic orbit to target elliptical orbit, without orbit insertion burn. Considering multiple boundary constraints, the guidance is divided into three phases which are numerical predictorcorrector phase, height tracking phase, and targeting phase. The allcoefficient adaptive guidance of the 3rd phase is built on first order characteristic model. To reduce the large timevarying dynamic gain between input and output of the system’s characteristic model, the numerical relation between controlling time and the change of apoapsis range is introduced as the dynamic input variable. The simulation results show that this aerocapture guidance method is robust in various offnominal conditions, while meeting the requirements of some boundary constraints.