Aiming at the collaborative optimization problem of multi-UAV reconnaissance and communication services for multiple heterogeneous targets, by considering the mission requirements and value of different targets, as well as the multi-UAV coordination gain and behavior restriction relationship, the Stackelberg game model is constructed. The upper-level drone is established as the leader of the game, the lower-level drone is established as the follower of the game, and 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. The simulation results show that the proposed method can effectively improve the efficiency of multi-UAV systems to complete multiple tasks at the same time, and can achieve efficient collaboration for the value of heterogeneous tasks in different environments.