The invention relates to a TDMA wireless ad hoc network different-group discovery and combination method. The method comprises the following steps: S1, each node of a main path circularly performs receiving work according to a superframe structure; s2, transmitting a beacon signaling; s3, transmitting an auxiliary beacon; s4, receiving a beacon signaling and an auxiliary beacon; s5, judging whether the received beacon signaling and the auxiliary beacon are different-group beacons or not, if yes, dismissing the ad hoc network with small network depth, performing networking again, and returning to the step S1; and if not, returning to the step S1. The method has the advantages that one beacon signaling or one auxiliary beacon can be transmitted at an average interval of one time slot, and meanwhile, any node is ensured to continuously receive the beacons at more than three time slots in an unpredetermined beacon transmitting multiframe time, so that the beacons which possibly appear at an interval of one time slot can be received at the continuous three time slot time; beacons can be found in time, and the purpose of fast integration of the ad hoc network is achieved.