Aiming to address the need for dynamic sensing and channel equalization in UAV cluster communication environments, this article introduces an equalization algorithm based on a U-Net model and fuzzy reinforcement Q-learning (U-FRQL-EA). This algorithm is designed to enhance the channel sensing and equalization capabilities of UAV communication systems. Initially, we develop a U-Net-based signal processing algorithm that effectively reduces acoustic noise in UAV communication channels and enables real-time, accurate perception of channel states by automatically learning channel features. Subsequently, we enhance fuzzy reinforcement Q-learning by incorporating a fuzzy neural network to approximate the Q-values and integrating this approach with the allocation strategy of wireless sensing nodes. This enhancement not only improves the accuracy of Q-value approximation but also increases the algorithm’s adaptability and decision-making ability in complex channel environments. Finally, we construct the U-FRQL-EA equalization algorithm by combining the improved U-Net model with fuzzy reinforcement Q-learning. This algorithm leverages the U-Net model to sense channel states in real time and intelligently adjusts data forwarding strategies based on fuzzy values generated by the fuzzy reinforcement Q-learning. Simulation results demonstrate that the U-FRQL-EA algorithm effectively reduces the system’s bit error rate, enhances communication quality, and optimizes network resource utilization, offering a novel solution for improving the performance of uncrewed aerial vehicle communication systems.