Based on the offline mission planning model and results for the application of dynamic scenario algorithms, an improved hierarchical distributed mission planning framework was proposed to give the heterogeneous multi-UAV (unmanned aerial vehicle) collaborative mapping system the decision-making capability to face the dynamic environment. Among these, the mission valuation method based on pre-planned trajectory took the global cost into account, and the valuation results were updated synchronously by the local auction algorithm with restricted communication, avoiding the mission conflict and local optimum. The joint correction method of trajectory based on rolling time-domain predictive control satisfied the requirements of dynamic mapping and obstacle avoidance. Through numerical simulation in a variety of circumstances, the applicability and dependability of the planning algorithm were confirmed.