In recent years, wireless communication devices and traffic have witnessed exponential growth. Consequently, limited spectrum resources and the rapidly growing demand for spectrum allocation have placed immense pressure on the available spectrum. Communication-sensing integration technology can facilitate both communication and sensing activities within the same specrum, thereby avoiding interference and improving spectrum utilization. Unmanned aerial vehicles (UAVs), as a novel type of airborne mobile node, offer advantages such as high flexibility, strong operability, and good adaptability. This thesis explores the collaborative technology for communication and location of UAV clusters with optimized communication rate and carrier allocation across multiple base stations. It delves into UAV communication and location collaboration technology oriented towards base station sensing, with a primary focus on the communication-sensing issues of single-communication and multi-communication UAVs under multi-sensory integrated base stations. The purpose of this paper is to explore the communication performance problem of base station perception and the compromise problem of the performance of synaesthesia integrated base station, so as to improve the link communication quality between base station and UAV, realize the communication based on base station perception and the efficient positioning of the target of black flight UAV, and maximize the integration gain and collaborative gain brought by the synaesthesia integration of base station.