The invention relates to the technical field of unmanned aerial vehicle cluster cooperative control, and discloses a method, a device, equipment and a medium for cooperative sensing between unmanned aerial vehicles, and the method comprises the steps: obtaining the multi-channel heterogeneous sensor data of a target unmanned aerial vehicle, and carrying out the
time synchronization of the multi-channel heterogeneous sensor data, and obtaining the first sensor data with the aligned
time sequence; based on the first sensor data, generating a structured description of an environment where the target unmanned aerial vehicle is located, and compressing the structured description to obtain compressed sensor data; the compressed sensor data are transmitted to other unmanned aerial vehicles, and the structured data aligned in
time sequence can ensure that all the unmanned aerial vehicles make decisions based on the same time reference and environment model, so that collaborative errors caused by data
time difference or format difference are avoided, and collaborative consistency is ensured; moreover, the lightweight
data transmission delay is lower, the dynamic environment change can be quickly responded, and the real-time cooperative task of the unmanned aerial vehicle cluster is supported.