Unmanned aerial vehicle(UAV) swarm cooperative situation awareness(SA) consensus plays a key role in swarm cooperative decision and control

and the existing studies of SA focus on multi-sensors situation data fusion

but the discuss of SA consensus is not sufficient.The evaluation method of swarm cooperative situation perception consensus is designed.Combined with the characteristics of swarm cooperative engagement

the swarm cooperative SA consensus is analyzed.The swarm cooperative situation perception consensus analysis models are established and the possible usages are given.Considering the uncertainty of battlefield information and the relevance of indexes

we design the consensus calculation method based on nonlinear dispose and the variable weights.The calculating example analysis shows that compared with the method via combination weight

the proposed method can have a better performance in the accuracy and distinction

and can be used for the study of swarm cooperative engagement simulation and the swarm system optimization design.