Hypersonic Vehicles are known for their speed, maneuverability, and adaptable trajectory planning. A cluster of these vehicles is essential for intercepting targets, with guidance phases including boost, midcourse, and terminal. The midcourse phase is vital for precise interception, performing at high speeds and maneuverability in near-space. Due to constraints and nonlinearity, optimizing the midcourse trajectory for gliding vehicles is complex. Inspired by the Radau pseudospectral method, this paper proposes a new cooperative segmented trajectory optimization algorithm to address this issue. In specific, the optimal control considering constraints and handover conditions for the mid-course trajectory is formulated at the beginning. Next, a dynamic interception strategy for segmented maneuvers, factoring in target pre-diction errors and no-fly zones, is developed. Then, the Radau pseudospectral method is utilized for multi-segment trajectory optimization to ensure accurate terminal phase transition. Finally, simulation results demonstrate the algorithm’s superiority in meeting handover criteria and achieving dynamic swarm interception.