“…In civilian use, UAVs can be used for disaster assessment (Al-Rawabdeh et al, 2016), environmental monitoring (Trasviña-Moreno et al, 2017;Zhou et al, 2015), etc. However, due to the low entry threshold and lack of effective control, UAVs also bring many safety problems (Birnbaum et al, 2016): (1) due to improper operation, poor signal and other reasons, UAV failure and fall can easily hurt people and damage objects; (2) the flight of UAVs may interfere with the flight of civil aircraft; (3) UAVs are difficult to be detected and intercepted, so they may be used by terrorists to threaten public safety (Lopes-Esteves et al, 2018). Therefore, the identification and detection of UAVs have become a difficult problem.…”