Heterogeneous radios are used in disaster management agencies for a variety of reasons though the radio must have the same radio frequency and protocol for voice communication. For this reason, the variety of heterogeneous radio voice connection methods have been studied but these are simple analog voice line cross connection or partial networked based on digitalization. In this paper, we suggest the method of voice packet transmission method based on All-IP per radio through IP network using SIP/RTP for scalability and openness and developed a prototype of the proposed method was verified.