Electro-optic payload technology is one of the core technologies of loitering missiles. A ground scanning scheme for the electro-optic payload with azimuth-pitch structure of loitering missiles was proposed to comprehensively consider the key factors affecting the scanning field of view, such as the parameters of the photoelectric sensor, the missile's attitude, and motion information during the process of scanning for ground targets. A mathematical model was established between the flight altitude, velocity, frame angles of electro-optic payload, scanning angular velocity, field of view angle and coverage of scanning field. A seamless ground scanning scheme was derived, the constraints for the seamless scanning scheme was given, and the seamless scanning widths under different flight speeds and scanning angular velocities were calculated. The coverage of the scanning field under different flight and scanning parameters was analyzed by simulation. The results show that the designed ground scanning scheme of electro-optic payload can meet the requirements of no blind area in the scanning field of view, and there is an optimal matching relationship between the flight speed of the loitering missile and the scanning angular velocity of the electro-optic payload.