Abstract: This paper presents a dedicated Time Division Multiple Access (TDMA) networking protocol tailored for the network construction requirements of unmanned aerial vehicle (UAV) swarms in emergency communication scenarios. The protocol optimizes slot allocation strategies to enhance network efficiency and stability. Based on this protocol, an ad-hoc networking system is developed, utilizing the ZYNQ-7000 series chip as the core processing unit. The system development encompasses system programming, simulation verification, and hardware testing. Test results demonstrate that the protocol boasts rapid network establishment, flexibility in accommodating late-joining nodes, efficient business data transmission, and precise time synchronization. Moreover, it meets the expected design targets in key performance indicators such as network throughput, latency, and stability. This protocol exhibits efficient networking capabilities and stable transmission performance, providing a research foundation and reference value for subsequent ad-hoc networking technology development efforts.