A coverage hole eliminating method based on a multi-sensor probability perceptual model comprises the following steps that firstly, coverage hole detection is performed by adopting the grid method after nodes are deployed randomly, wherein a grid is completely covered if the associated perceptual probability of the grid is greater than 90 percent on the basis of the multi-sensor probability perceptual model, or else, the grid is not covered, and each continuously uncovered grid is a hole; secondly, the new position of the nodes for patching the holes is determined according to the geometrical algorithm; thirdly, a mobile target position is saved, the coverage area of the mobile nodes is removed, the nodes are moved to the target position to patch the holes, and coverage loopholes are updated; fourthly, the steps are repeated from the first step until all the loopholes are covered; finally, the steps are repeated until all the holes are covered.