Integrated air–ground network enhances AIoT performance by improving spectral efficiency, achieving high-speed, stable network connectivity, and enabling sensing, learning, and decision-making. However, unmanned aerial vehicles (UAVs) can lead to local spectrum congestion and competition. To address this issue, intelligent signal processing techniques are employed to enhance AIoT system performance and stability through intelligent multi-channel sensing and communication. A novel communication framework inspired by brain cognition for UAV communication in heterogeneous environments is introduced. This framework iteratively determines the importance of signals, effectively eliminating unimportant signals with interference characteristics, and reducing their transmission power. Simulation results demonstrate the superiority of this method in terms of communication performance.