{"id":"https://openalex.org/W3096032994","doi":"https://doi.org/10.1109/access.2019.2934188","title":"Abnormal Behavior Detection Scheme of UAV Using Recurrent Neural Networks","display_name":"Abnormal Behavior Detection Scheme of UAV Using Recurrent Neural Networks","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W3096032994","doi":"https://doi.org/10.1109/access.2019.2934188","mag":"3096032994"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2934188","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2934188","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08793200.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08793200.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014818716","display_name":"Ke Xiao","orcid":"https://orcid.org/0000-0002-8654-1339"},"institutions":[{"id":"https://openalex.org/I1456306","display_name":"North China University of Technology","ror":"https://ror.org/01nky7652","country_code":"CN","type":"education","lineage":["https://openalex.org/I1456306"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ke Xiao","raw_affiliation_strings":["School of Information Science and Technology, North China University of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, North China University of Technology, Beijing, China","institution_ids":["https://openalex.org/I1456306"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002903652","display_name":"Jianyu Zhao","orcid":"https://orcid.org/0000-0001-8519-6177"},"institutions":[{"id":"https://openalex.org/I1456306","display_name":"North China University of Technology","ror":"https://ror.org/01nky7652","country_code":"CN","type":"education","lineage":["https://openalex.org/I1456306"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianyu Zhao","raw_affiliation_strings":["School of Information Science and Technology, North China University of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, North China University of Technology, Beijing, China","institution_ids":["https://openalex.org/I1456306"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009109404","display_name":"Yunhua He","orcid":"https://orcid.org/0000-0003-3258-7160"},"institutions":[{"id":"https://openalex.org/I1456306","display_name":"North China University of Technology","ror":"https://ror.org/01nky7652","country_code":"CN","type":"education","lineage":["https://openalex.org/I1456306"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunhua He","raw_affiliation_strings":["School of Information Science and Technology, North China University of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, North China University of Technology, Beijing, China","institution_ids":["https://openalex.org/I1456306"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080324810","display_name":"Chaofei Li","orcid":"https://orcid.org/0000-0002-2578-3238"},"institutions":[{"id":"https://openalex.org/I1456306","display_name":"North China University of Technology","ror":"https://ror.org/01nky7652","country_code":"CN","type":"education","lineage":["https://openalex.org/I1456306"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaofei Li","raw_affiliation_strings":["School of Information Science and Technology, North China University of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, North China University of Technology, Beijing, China","institution_ids":["https://openalex.org/I1456306"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102704898","display_name":"Wei Cheng","orcid":"https://orcid.org/0000-0002-3635-0745"},"institutions":[{"id":"https://openalex.org/I4210150356","display_name":"University of Washington Tacoma","ror":"https://ror.org/05n8t2628","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701","https://openalex.org/I4210150356"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei Cheng","raw_affiliation_strings":["School of Engineering and Technology, University of Washington, Tacoma, WA, USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Technology, University of Washington, Tacoma, WA, USA","institution_ids":["https://openalex.org/I4210150356"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5014818716"],"corresponding_institution_ids":["https://openalex.org/I1456306"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":21.2721,"has_fulltext":true,"cited_by_count":39,"citation_normalized_percentile":{"value":0.98860749,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"7","issue":null,"first_page":"110293","last_page":"110305"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8108081221580505},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5965222120285034},{"id":"https://openalex.org/keywords/spoofing-attack","display_name":"Spoofing attack","score":0.569796085357666},{"id":"https://openalex.org/keywords/recurrent-neural-network","display_name":"Recurrent neural network","score":0.5660203695297241},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5205584168434143},{"id":"https://openalex.org/keywords/relay","display_name":"Relay","score":0.5196762681007385},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.5091111063957214},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5058953166007996},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4844386875629425},{"id":"https://openalex.org/keywords/indoor-positioning-system","display_name":"Indoor positioning system","score":0.4287450909614563},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4228634834289551},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4158761501312256},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3925187587738037},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.13808569312095642},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.12558144330978394},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.09212055802345276}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8108081221580505},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5965222120285034},{"id":"https://openalex.org/C167900197","wikidata":"https://www.wikidata.org/wiki/Q11081100","display_name":"Spoofing attack","level":2,"score":0.569796085357666},{"id":"https://openalex.org/C147168706","wikidata":"https://www.wikidata.org/wiki/Q1457734","display_name":"Recurrent neural network","level":3,"score":0.5660203695297241},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5205584168434143},{"id":"https://openalex.org/C2778156585","wikidata":"https://www.wikidata.org/wiki/Q174053","display_name":"Relay","level":3,"score":0.5196762681007385},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.5091111063957214},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5058953166007996},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4844386875629425},{"id":"https://openalex.org/C2777486483","wikidata":"https://www.wikidata.org/wiki/Q6026477","display_name":"Indoor positioning system","level":3,"score":0.4287450909614563},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4228634834289551},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4158761501312256},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3925187587738037},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.13808569312095642},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.12558144330978394},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.09212055802345276},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2019.2934188","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2934188","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08793200.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:digitalcommons.tacoma.uw.edu:tech_pub-1360","is_oa":false,"landing_page_url":"https://digitalcommons.tacoma.uw.edu/tech_pub/361","pdf_url":null,"source":{"id":"https://openalex.org/S4306400628","display_name":"University of Washington Tacoma Digital Commons (University of Washington Tacoma)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210150356","host_organization_name":"University of Washington Tacoma","host_organization_lineage":["https://openalex.org/I4210150356"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"School of Engineering and Technology Publications","raw_type":"text"},{"id":"pmh:oai:doaj.org/article:12f55696befe4932875e82c0fe9a631a","is_oa":true,"landing_page_url":"https://doaj.org/article/12f55696befe4932875e82c0fe9a631a","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 7, Pp 110293-110305 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2934188","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2934188","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08793200.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3096032994.pdf","grobid_xml":"https://content.openalex.org/works/W3096032994.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W1915368719","https://openalex.org/W1966679018","https://openalex.org/W2060295573","https://openalex.org/W2071838840","https://openalex.org/W2132453268","https://openalex.org/W2391615873","https://openalex.org/W2547203933","https://openalex.org/W2562584762","https://openalex.org/W2568472206","https://openalex.org/W2604751273","https://openalex.org/W2735982539","https://openalex.org/W2760504057","https://openalex.org/W2761034543","https://openalex.org/W2767186681","https://openalex.org/W2771404411","https://openalex.org/W2772269064","https://openalex.org/W2782929708","https://openalex.org/W2785735866","https://openalex.org/W2789390797","https://openalex.org/W2793588968","https://openalex.org/W2808107230","https://openalex.org/W2893370605","https://openalex.org/W2900839710","https://openalex.org/W2913446593","https://openalex.org/W2916767748","https://openalex.org/W2923508303","https://openalex.org/W2963014931","https://openalex.org/W2963362645","https://openalex.org/W2963408914","https://openalex.org/W6731251631","https://openalex.org/W6744631038","https://openalex.org/W6744660808","https://openalex.org/W6752662720"],"related_works":["https://openalex.org/W2998478967","https://openalex.org/W2188559950","https://openalex.org/W2989910292","https://openalex.org/W3128793638","https://openalex.org/W2607818178","https://openalex.org/W2123299109","https://openalex.org/W2021230337","https://openalex.org/W3153057489","https://openalex.org/W2895823926","https://openalex.org/W2972676112"],"abstract_inverted_index":{"With":[0],"the":[1,6,21,27,32,38,57,68,86,102,114,127,166,174,178,187,196],"development":[2],"of":[3,8,20,34,41,73,104,116,120,129,132,135,147,152,162,190,203],"technology":[4],"and":[5,30,60,107,177],"decreasing":[7],"manufacturing":[9],"costs,":[10],"unmanned":[11],"aerial":[12],"vehicle":[13],"(UAV)":[14],"is":[15,43,80,140,158,202],"considered":[16],"to":[17,25,46,54,100,112,125,142,164],"be":[18],"one":[19],"most":[22],"effective":[23],"relay":[24],"expand":[26],"communication":[28,39],"coverage":[29],"improve":[31,113],"performance":[33],"cellular":[35],"networks.":[36],"However,":[37],"system":[40],"UAV":[42,74],"very":[44],"susceptible":[45],"Global":[47],"Positioning":[48],"System":[49],"(GPS)":[50],"spoofing,":[51],"causing":[52],"it":[53],"deviate":[55],"from":[56],"original":[58],"trajectory":[59],"perform":[61],"abnormal":[62,69,108,188,198],"behavior.":[63],"To":[64],"address":[65],"this":[66,83],"issue,":[67],"behavior":[70,89,183,189,199],"detection":[71,118,200],"scheme":[72,119,201],"using":[75],"Recurrent":[76],"Neural":[77],"Networks":[78],"(RNNs)":[79],"proposed":[81,117,197],"in":[82,123],"paper.":[84],"Specifically,":[85],"reliable":[87],"normal":[88,182],"models":[90],"for":[91],"two":[92],"different":[93],"scenarios":[94],"are":[95],"established":[96],"by":[97,181],"applying":[98],"RNNs":[99],"avoid":[101],"confusion":[103],"slight":[105],"offset":[106],"behavior,":[109],"so":[110],"as":[111],"accuracy":[115,128],"UAV.":[121,153,191],"Besides,":[122],"order":[124],"ensure":[126],"training":[130],"samples":[131],"RNNs,":[133],"Direction":[134],"Arrival":[136],"(DOA)":[137],"estimation":[138],"algorithm":[139],"used":[141],"obtain":[143],"a":[144],"large":[145],"number":[146],"current":[148],"2D":[149],"arrival":[150],"angle":[151],"Moreover,":[154],"an":[155],"appropriate":[156],"threshold":[157],"selected":[159],"through":[160],"amounts":[161],"experiments":[163],"measure":[165],"Normalized":[167],"Root":[168],"Mean":[169],"Square":[170],"Error":[171],"(NRMSE)":[172],"between":[173],"real":[175],"position":[176,179],"provided":[180],"models,":[184],"thus":[185],"detecting":[186],"Experimental":[192],"results":[193],"reveal":[194],"that":[195],"high":[204],"accuracy.":[205]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
