In ultraviolet (UV) communication, On–Off Keying (OOK) is the primary modulation technique. Compared to OOK, frequency modulation offers stronger resistance to path attenuation. Currently, research on frequency modulation demodulation schemes for UV communication is limited, mainly employing waveform detection and laser pulse response methods, which require high detection sensitivity to light. This study presents a novel frequency modulation communication scheme using discrete Poisson channel distribution and optical pulse signal processing algorithms, enhancing the signal processing sensitivity of the existing frequency modulation scheme to the level of photons. The proposed system model is rigorously evaluated through theoretical derivations and simulations. Additionally, a hardware system integrating optical pulse counting, frequency detection, and clock data recovery algorithms is developed. Experimental results show the system achieving a 5 kbps transmission rate under frequency modulation. In non-line-of-sight (NLOS) scenarios, communication reaches up to 65 m, with the receiver elevation angle ranging from 10° to 25° and the bit error rate (BER) stabilized at 10−4, while in line-of-sight (LOS) situations, the BER remains at 10−5 up to 400 m and 10−4 up to 700 m, achieving the farthest distance and fastest communication rate achievable in the current FSK modulation scheme of ultraviolet communication systems. The integrated components enhance its applicability in communication systems. This study offers a valuable addition to UV communication technology.