Fig 1.
Unmanned aerial vehicles (UAVs).
Fig 2.
Types of drones used in the dataset [16].
Fig 3.
Snapshot of dataset sample.
Table 1.
Statistical measures and features [16].
Fig 4.
Flow diagrams of ICMetric phases [19].
Fig 5.
ICMetric system block diagram.
Fig 6.
DNN basic structure.
Table 2.
Initial parameters.
Table 3.
Accuracy rate with different numbers of layers and neurons.
Fig 7.
Training phase with optimal number of hidden layers.
Fig 8.
Training performance of DNN—MSE.
Fig 9.
Training state of DNN—Gradient.
Fig 10.
Training status of DNN—Validation.
Table 4.
Classification accuracy rate with ICMetric.
Table 5.
Average alarm rate.
Table 6.
Classification rate with various numbers of drones.
Fig 11.
ROC curve for DNN—FPR.
Fig 12.
ROC curve for DNN—TPR.
Table 7.
Comparison with existing IDS systems.
Fig 13.
Comparison between the proposed system and other IDS systems.