Ant colony algorithm lacks an efficient strategy for assigning a same task to multiple unmanned platforms for solving task allocation problems. This paper proposes a collaborative task allocation method based on heuristic ant colony algorithm for collaborative task allocation problems, which is effectively integrated into the allocation process. This method utilizes a time heuristic ant colony algorithm that updates pheromones based on the objective function ranking. It selects the remaining optimal platforms for the platform assigned to collaborative tasks, achieving collaborative task allocation for heterogeneous unmanned platforms. The ability of collaborative task allocation is verified through simulation experiments.