In order to track and predict the dynamic trajectory of hypersonic vehicle, with the analysis of the general characteristic of the trajectory, a new trajectory prediction algorithm by utilizing the attenuation oscillation model is provided in the paper. Firstly, the continuous time state equation of the damped oscillation model is derived and the unscented Kalman filter is given. Secondly, the optimal maneuver model is determined by matching the tracking acceleration result with the acceleration model to predict the trajectory of a glide vehicle in the unknown conditions. Finally, the simulation results can be shown that the precision of the new model is better than the traditional kinematics model. Through the combination of denoising and prediction model, the acceleration of the vehicle is more effective to reconstruct the future trajectory of hypersonic vehicle with a good research prospect and potential application value.