Abstract: The substantial detection and tracking errors of cross-domain unmanned aerial vehicles(CDUAVs) pose significant challenges to the handover between mid-terminal guidance. This paper proposes an optimisation method for coopera-tive coverage across multi-interceptors with heterogeneous field-of-view based on target trajectory prediction error pipeline modelling. First, the target trajectory prediction error pipeline model is constructed through parametric model-ling based on error propagation theory, following an analysis of error sources. This model calculates the high-probability target regions at the handover between mid-terminal guidance. Second, the target acquisition problem dur-ing handover is transformed into a geometric coverage optimisation problem for multi-interceptor with heterogeneous field-of-view over these high-probability regions. A minimised objective function for interceptor combinations is estab-lished under full coverage constraints. Finally, a genetic algorithm is employed to determine the optimal interceptor combination configuration and optimal coverage points. Simulation results demonstrate that the proposed parametric modelling approach exhibits significant computational efficiency advantages over traditional Monte Carlo statistical methods in estimating high-probability target regions. The coverage optimisation method effectively addresses the joint optimisation of multi-interceptor heterogeneous field-of-view configurations and optimal coverage points, provid-ing theoretical support for assisting defence decision-making against CDUAVs and enhancing the success rate of the handover between mid-terminal guidance.

Key words: trajectory prediction, multi-missile cooperative, heterogeneous field-of-view, the handover between mid-terminal guidance, coverage optimization