Aiming at the collaborative optimization of multi-UAV reconnaissance and communication service for multiple heterogeneous targets,the Stackelberg game model is constructed by considering the mission requirements and target values,as well as the restriction between multi-UAV coordination gain and task behavior.The upper-level drone is established as the leader of the game,while the lower-level drones are established as the followers of the game,and then a distributed strategy update iterative algorithm is proposed,which realizes the stable convergence of the multi-UAV task allocation scheme and the optimization of the task revenue.Simulation results show that the proposed approach can effectively improve the efficiency of multi-UAV systems to complete multiple tasks at the same time,and can achieve efficient collaboration for the values of heterogeneous tasks in different environments.