Nothing you can do - it's Battleye failing to get its work done on your local client and report the safe-status of your files back to the server in time, before the kick happens.
Either you're lagging, your network is poor, ping is high, or maybe the server is extremely busy at the time and doesn't have an opportunity to wait for your response. Or all at once. Most often this happens at the beginning of the 4-hour session when everyone is trying to cram onto the server at once, but for some people with slow pings it can happen any time. Battleye does signature checks regularly during play, I believe, not just at the beginning (I'm sure someone will correct me if I am wrong on that).
It's also not limited to Tanoa, and happens on Altis - and in fact, any Battleeye protected server that you connect to. It all depends on the above factors, though, whether you experience this or not.