In recent years, the integration of air vehicles and ground vehicles has been a technological development with huge potential. However, making both types of vehicle work together concurrently is a major challenge. Therefore, we have developed a novel cooperative communication protocol to efficiently implement the collaborative operation between an unmanned aerial vehicle (UAV) and an unmanned ground vehicle (UGV). Through position sensing and time sensing, the UAV and UGV can achieve autonomous control by sending commands to each other. For example, the UGV can instantly pass a sensing-related task such as gas detection or obtaining a view of the ground from the air to the UAV, and the user can track the trajectory of the UAV flight through position sensing and time sensing to determine whether the UAV has done a task. Similarly, the UAV can send commands to the UGV to carry out sensing-related tasks such as face recognition and infrared thermal imaging of people on the ground. The UAV and UGV are not only equipped with a gas sensor and camera sensor, but they also have the built-in functions of position sensing and time sensing. According to experiments on the collaborative operation between UAVs and UGVs, the proposed approach enables the group deployment of unmanned vehicles to execute successfully three-dimensional collaborative operations that can be operated via an app without a ground control station. As a result, the proposed cooperative communication protocol through position sensing and time sensing efficiently realizes the IoT-connected group deployment of unmanned vehicles with sensing units.