Addressing the air-sea information collaboration and sharing requirements for UAVs in distant maritime operations, a dynamic priority-based transmission protocol is proposed for random access. Firstly, this protocol is designed to ensure stable telemetry and remote control information transmission within the cluster measurement and control communication ad-hoc network through efficient cluster networking signaling. Secondly, combines an improved TDMA network time-slot structure for fast node enrollment and dynamic time slot allocation. Finally, an OPNET network simulation is used to analyze the random access, low latency, high throughput, and low end-to-end latency performance of the designed cluster air-sea self-organizing network system. The results indicate that the network establishment time under this signaling scheme requires only 2-3 flight control cycles. In a scenario with 32 nodes, the average delay for nodes to complete random Aloha network access is less than 0.6 seconds. Additionally, the improved TDMA protocol reduces end-to-end latency by 1/3 compared to traditional TDMA protocols.