Republic of Korea is building a multi-layered missile defense system against North Korea’s growing ballistic missile threat. To maximize the intercept performance of a multi-layered missile defense system, it is important to develop an efficient engagement plan that considers the interceptable time/space of each interceptor system for ballistic missiles. To do so, it is necessary to predict the flight trajectory of the ballistic missile, which must be done within a short time considering the short battlefield environment and the speed of the ballistic missile. This study presents a model for rapid trajectory prediction of ballistic missiles using the kinetic characteristics of each flight phase(thrust phase, midcourse phase, and re-entry phase) of ballistic missiles, a method for estimating kinetic information from ballistic missile observation data(time and position), and a mathematical analysis of the equations of motion of ballistic missiles.