Using multiple UAVs to cooperate in reconnaissance missions can effectively improve the accuracy of reconnaissance. The importance of different reconnaissance mission targets is often different, and their mission value is also different. Therefore, it is necessary to reasonably allocate the UAV resources for cooperative reconnaissance and improve the efficiency of cooperative reconnaissance. This paper focuses on the allocation of UAV reconnaissance time resources. Firstly, an autonomous collaborative resource allocation mechanism is constructed. Taking the assisted UAV as the leader and the auxiliary UAV as the follower, the Stackelberg game model is established. Then, by solving the lower level game equilibrium and the upper level game equilibrium, the closed expression of the optimal assistance time of the auxiliary UAV is deduced. The Nash equilibrium solution of the Stackelberg game model is obtained. Finally, the proposed model and method are verified by simulation. The simulation results show that the proposed method makes full use of the time resources of auxiliary UAV. The effectiveness of cooperative reconnaissance has been effectively improved.