This paper studies the problem of spatio-temporal coordinated control algorithm in multi-UAV collaborative target tracking and proposes a heterogeneous role-based Lyapunov navigation vector field. First, a heterogeneous roles assignment algorithm is proposed to guide UAVs to form a tracking formation pattern, and a navigation vector field whose deflection characteristics matching the heterogeneous roles is designed to realize the coordinated spatio-temporal control of multi-UAV. Second, based on the target reachability estimation, we propose to measure the multi-UAV collaborative target tracking effectiveness by the ratio of the current detection range of multi-UAV to the target reachable area, and optimize the heading angle controller in this way. Finally, simulations are conducted to verify the effectiveness of the above algorithms.