DEVELOPMENT AND VERIFICATION OF CYBER SECURITY ARCHITECTURE FOR UNMANNED AERIAL VEHICLE TELEMETRY BASED ON SIMULATION MODELLING
DOI:
https://doi.org/10.37943/25GEVU5826Keywords:
unmanned aerial vehicles, telemetry channel, Unmanned Aerial Vehicle cyber defence, anomaly detection, Micro Air Vehicle Link, statistical analysis of telemetry, communication channel protection, cyber resilience, telemetry modelling, multi-layered defence architectureAbstract
The rapid development and widespread adoption of unmanned technologies have led to significant advancements across various fields of human activity. At the same time, the risks associated with the unauthorized use of unmanned aerial systems have increased. This has led to the emergence of a distinct area of research focused on countermeasures and the protection of various components and platforms within unmanned aerial systems. Despite the existence of current methods for detecting attacks and anomalies, their effectiveness is significantly reduced under complex operational scenarios, including dynamically changing environments, interference, small target sizes, and low radar visibility. To address this issue, this study presents the main findings of a comprehensive analysis of contemporary cyber threats and vulnerabilities arising in unmanned aerial vehicle (UAV) systems. Based on this analysis, an up-to-date classification of existing types of attacks on the basic architecture of UAVs has been compiled. This enabled an examination of the main protection methods for ensuring the security of UAV systems and components, as well as the classification of methods for detecting cyberattacks on their systems. Based on the data obtained, a multi-level protection architecture was developed, comprising three main levels: a secure communication channel, a secure flight controller, and a secure ground control station.
The software environment developed for simulating telemetry streams in Python 3.12 enabled the generation of packets in Micro Air Vehicle Link (MAVLink)/ User Datagram Protocol (UDP)/ Transmission Control Protocol (TCP) format, as well as the simulation of attacks and the detection of network anomalies in the UAV telemetry system. The results obtained include the processing of 97 MAVLink packets, where the proportion of anomaly injections was 10%, totalling 118 units. The average MAVLink packet delay was 0.037 seconds, which indicates stable operation of the telemetry channel. Experimental verification comprising 100 cycles demonstrated the ability to detect data packet structure violations, false identifiers, coordinate substitution, and delay anomalies.
References
Islam, M. S., Mahmoud, A. S., & Sheltami, T. R. (2025). AI-Enhanced Intrusion Detection for UAV Systems: A Taxonomy and Comparative Review. Drones, 9(10), 682. https://doi.org/10.3390/drones9100682
Alsumayt, A., Nagy, N., Alsharyofi, S., Alahmadi, R., Al-Rabie, R., Alesse, R., Alibrahim, N., Alahmadi, A., Alghamedy, F. H., & Alfawaer, Z. (2026). Cutting-Edge DoS Attack Detection in Drone Networks: Leveraging Machine Learning for Robust Security. Sci, 8(1), 20. https://doi.org/10.3390/sci8010020
Tlili, F., Ayed, S., & Fourati, L. C. (2024). Exhaustive distributed intrusion detection system for UAVs attacks detection and security enforcement (E-DIDS). Computers & Security, 142, 103878. https://doi.org/10.1016/j.cose.2024.103878
Alshamrani, A., & Alghamdi, A. M. (2026). Zero-shot attack detection in UAV networks using foundation models. Alexandria Engineering Journal, 136, 105–124. https://doi.org/10.1016/j.aej.2025.12.065
Mohammed, U. M., Omolara, A. E., Abiodun, O. I., Rasheed, J., Osman, O., Lar, P. M., Adeyinka, P. O., & Olugbenga, A. G. (2025). Cyber threat in drone systems: Bridging real-time security, legal admissibility, and digital forensic solution readiness. Frontiers in Communication and Networks, 6, 1661928. https://doi.org/10.3389/frcmn.2025.1661928
Burbank, J., Caleb, T., Andam, E., & Kaabouch, N. (2026). Detection and Mitigation of Cyber Attacks on UAV Networks. Electronics, 15(2), 317. https://doi.org/10.3390/electronics15020317
Sharifi, I., Ghazanfari, M., Taye, A., Wei, P., Ahmed, M. H., Kim, H. T., Ghasemi, M., Gupta, V., Dahle, N., Canady, R., Diaz Gonzalez, A., Coursey, A., Bjorkman, B., Lemieux-Mack, C., Ward, B. C., Koutsoukos, X., Biswas, G., Herencia-Zapana, H., Hasan, S., Amundson, I., Fotiadis, F., Topcu, U., Lu, J., Chen, Q. A., Aryal, N., Ibrahim, A., Ras, A. K., & Shirkhodaie, A. (2026). A survey of security challenges and solutions for UAS traffic management (UTM) and small unmanned aerial systems (sUAS). https://doi.org/10.48550/arXiv.2601.08229
Yoo, J. D., Kim, G. M., Song, M. G., & Kim, H. K. (2025). MeNU: Memorizing normality for UAV anomaly detection with a few sensor values. Computers & Security, 150, 104248. https://doi.org/10.1016/j.cose.2024.104248
H. Tang and Y. Chen, "Composite Observer-Based Resilient MPC for Heterogeneous UAV-UGV Systems Under Hybrid Cyberattacks," in IEEE Transactions on Aerospace and Electronic Systems, vol. 61, no. 4, pp. 8277-8290, Aug. 2025, https://doi.org/10.1109/TAES.2025.3542737
R. Romagnoli, B. H. Krogh, D. de Niz, A. D. Hristozov and B. Sinopoli, "Software Rejuvenation for Safe Operation of Cyber–Physical Systems in the Presence of Run-Time Cyberattacks," in IEEE Transactions on Control Systems Technology, vol. 31, no. 4, pp. 1565-1580, July 2023, https://doi.org/10.1109/TCST.2023.3236470
S. Qiu and H. Liu, "A new zonotope-based attack detection method for UAV," 2022 41st Chinese Control Conference (CCC), Hefei, China, 2022, pp. 4276-4280, https://doi.org/10.23919/CCC55666.2022.9902124
B. M. Horowitz, "Cyberattack-Resilient Cyberphysical Systems," in IEEE Security & Privacy, vol. 18, no. 1, pp. 55-60, Jan.-Feb. 2020, https://doi.org/10.1109/MSEC.2019.2947123
H. Yang, Z. Yu and Y. Zhang, "Observer-Based Adaptive Resilient Fault-Tolerant Cooperative Control for Multiple Fixed-Wing UAVs Subject to Cyberattacks and Actuator Faults," in IEEE Internet of Things Journal, vol. 13, no. 3, pp. 5179-5192, https://doi.org/10.1109/JIOT.2025.3642912
M. Tahavori, "A System-Theoretic Measure for Quantification of Vulnerabilities to Cyber Attacks with Application to Unmanned Aerial Vehicles," 2020 7th International Conference on Control, Decision and Information Technologies (CoDIT), Prague, Czech Republic, 2020, pp. 492-495, https://doi.org/10.1109/CoDIT49905.2020.9263905
A. Zuev, O. Gryb, S. Shvets and V. Makarov, "Evaluating and Ensuring the Cybersecurity of Power Line Remote Monitoring Systems," 2018 IEEE 3rd International Conference on Intelligent Energy and Power Systems (IEPS), Kharkiv, Ukraine, 2018, pp. 271-274, https://doi.org/10.1109/IEPS.2018.8559572.
P. Wang et al., "QUADFormer: Learning-Based Detection of Cyber Attacks in Quadrotor UAVs," in IEEE Transactions on Control Systems Technology, vol. 34, no. 1, pp. 59-73, Jan. 2026, https://doi.org/10.1109/TCST.2025.3598255
H. Rezaee, E. Salvato, G. Fenu and T. Parisini, "Resilient Coverage by Teams of Quadrotor UAVs: Theory and Experiments," in IEEE Transactions on Control Systems Technology, vol. 32, no. 6, pp. 2009-2022, Nov. 2024, https://doi.org/10.1109/TCST.2024.3389350
R. S. Tucker, M. Nadeem and S. Pervez, "Real-Time Detection and Mitigation of GPS Spoofing in UAV Systems," 2025 12th International Conference on Information Technology (ICIT), Amman, Jordan, 2025, pp. 154-160, https://doi.org/10.1109/ICIT64950.2025.11049153
S. Gupta et al., "GPS Spoof and Detect in Ardupilot Simulating UAVs," 2023 OITS International Conference on Information Technology (OCIT), Raipur, India, 2023, pp. 817-822, https://doi.org/10.1109/OCIT59427.2023.10430778
A. P. Zhao et al., "Uncrewed Aerial Vehicle-Based Cyberattacks on Microgrids," in IEEE Transactions on Industry Applications, vol. 62, no. 2, pp. 3212-3225, March-April 2026, https://doi.org/10.1109/TIA.2025.3618810
Z. Yu and Q. Wang, "Analysis of future demand for a general-purpose UAV Attitude and Heading Reference system," 2024 36th Chinese Control and Decision Conference (CCDC), Xi'an, China, 2024, pp. 94-99, https://doi.org/10.1109/CCDC62350.2024.10587514
H. J. Hadi, Y. Cao, M. K. Khan, N. Ahmad, Y. Hu, and C. Fu, "UAV-NIDD: A Dynamic Dataset for Cybersecurity and Intrusion Detection in UAV Networks," in IEEE Transactions on Network Science and Engineering, vol. 12, no. 4, pp. 2739-2757, July-Aug. 2025, https://doi.org/10.1109/TNSE.2025.3553442
Pekarčík, E. Chovancová, M. Havrilla and M. Hasin, "Security analysis of attacks on UAV," 2023 IEEE 21st World Symposium on Applied Machine Intelligence and Informatics (SAMI), Herl'any, Slovakia, 2023, pp. 57-62, https://doi.org/10.1109/SAMI58000.2023.10044500
H. Jalil Hadi, Y. Cao, S. Li, Y. Hu, J. Wang and S. Wang, "Real-Time Collaborative Intrusion Detection System in UAV Networks Using Deep Learning," in IEEE Internet of Things Journal, vol. 11, no. 20, pp. 33371-33391, 15 Oct.15, 2024, https://doi.org/10.1109/JIOT.2024.3426511
R. S. Tucker, M. Nadeem and S. Pervez, "Real-Time Detection and Mitigation of GPS Spoofing in UAV Systems," 2025 12th International Conference on Information Technology (ICIT), Amman, Jordan, 2025, pp. 154-160, https://doi.org/10.1109/ICIT64950.2025.11049153
Federal Aviation Administration. (2023, December 19). National Airspace System (NAS) cybersecurity incident detection, reporting, and response policy (Order JO 1370.128). Federal Aviation Administration, https://www.faa.gov
European Union Aviation Safety Agency. (2023). Regulations (EU) 2023/203 - Information security (Part-IS). https://www.easa.europa.eu/en
International Organization for Standardization. (2022). ISO/IEC 27001:2022 Information security, cybersecurity and privacy protection - Information security management systems - Requirements. ISO. https://www.iso.org/standard/27001
A. Yu, I. Kolotylo, H. A. Hashim and A. E. E. Eltoukhy, "Electronic Warfare Cyberattacks, Countermeasures, and Modern Defensive Strategies of UAV Avionics: A Survey," in IEEE Access, vol. 13, pp. 68660-68681, 2025, https://doi.org/10.1109/ACCESS.2025.3561068.
U. V. Dad, D. T. Gandhi, D. B. Panchal, S. M. Agarwal and K. K. Sood, "MAVLink Protocol Customization for UAV Telemetry and Control Over a Low Data Rate SATCOM Link," 2024 IEEE 21st India Council International Conference (INDICON), Kharagpur, India, 2024, pp. 1-5, https://doi.org/10.1109/INDICON63790.2024.10958424.
H. Xu et al., "Experimental Analysis of MAVLink Protocol Vulnerability on UAVs Security Experiment Platform," 2021 3rd International Conference on Industrial Artificial Intelligence (IAI), Shenyang, China, 2021, pp. 1-6, https://doi.org/10.1109/IAI53119.2021.9619330
V. S, R. R, S. Selvan, S. S. S, S. K and S. R, "A Survey on Modern Innovative Secured Transport Layer Protocols on Recent Advances," 2023 7th International Conference on Computing Methodologies and Communication (ICCMC), Erode, India, 2023, pp. 1088-1093, https://doi.org/10.1109/ICCMC56507.2023.10084044
S. N, A. K. V and S. Krishnakumar, "Detection of ARP Spoofing Attacks in Software Defined Networks," 2023 International Conference on Intelligent Systems for Communication, IoT and Security (ICISCoIS), Coimbatore, India, 2023, pp. 422-426, https://doi.org/10.1109/ICISCoIS56541.2023.10100567
Downloads
Published
How to Cite
Issue
Section
License
Copyright (c) 2026 Articles are open access under the Creative Commons License

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
Authors who publish a manuscript in this journal agree to the following terms:
- The authors reserve the right to authorship of their work and transfer to the journal the right of first publication under the terms of the Creative Commons Attribution License, which allows others to freely distribute the published work with a mandatory link to the the original work and the first publication of the work in this journal.
- Authors have the right to conclude independent additional agreements that relate to the non-exclusive distribution of the work in the form in which it was published by this journal (for example, to post the work in the electronic repository of the institution or publish as part of a monograph), providing the link to the first publication of the work in this journal.
- Other terms stated in the Copyright Agreement.