Abstract
This paper proposes an optimal signal processing based UAV tracking algorithm considering noise and cyber attacks in sensory measurements. After representing the LIAV dynamics into a state-space 14m, the UAV embedded IoT sensors and IoT gateways are used to obtain measurements at the control center. The prediction and correction based optimal Kalman filtering algorithm is proposed to know the UAV states such as velocity and pitch angle. Extensive numerical results show that the proposed algorithm can properly track the UAV states within 0.9-0.45 sec.