Focusing on the completely inspection and salvage of target spacecraft, this paper presents an algorithm to enable the on-orbit-servicing spacecraft to circumnavigate a target spacecraft in any plane based on the impulse transfer method. By dividing the specified period into N parts, the impulse transfer method is applied during every part between two specified points until the circumnavigation is accomplished. With the error analysis of algorithm, a method is presented to solve the least pulse number N in the tolerant guidance error. Finally, a simulation is carried out and the results indicate that the guidance algorithm consumes less energy than others and can accomplish the flyaround in any plane efficiently.