To address the challenge of mid-terminal guidance handover caused by substantial detection and tracking errors of Cross-Domain Unmanned Aerial Vehicles （CDUAV）， this paper proposes an optimisation method for cooperative coverage across multi-interceptors with heterogeneous field-of-view based on target trajectory prediction error pipeline modelling. First， by analyzing the sources of target trajectory prediction errors， a parameterized target prediction error pipeline model is constructed through parametric modelling based on error propagation theory， and the high-probability target regions at the handover between mid-terminal guidance is calculated. Second， the target acquisition problem during 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 established 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， providing theoretical support for assisting defence decision-making against CDUAV and enhancing the success rate of the handover between mid-terminal guidance.