In this paper, we propose a Kalman Trust Estimator (KATE) to check misbehaviour by the drones in Internet of Drones. Internet of Drones is a Flying Ad Hoc Networks connected to internet is a wireless mobile network of energy constrained devices deployed in a high multidimensional free space. This leads to small neighbourhoods and high temporal variation of drone density. IoD is characterized by drones possessed or controlled by different owners that form the network. A legitimate drone may be made to act selfishly to further interests of its owners or may be compromised to act so. This warrants establishment of trust in a drone to accept the veracity of the messages or sensed information sent by it. Earlier, several trust models have been proposed to achieve secure and reliable internode communications. They often detect drones as malicious by merging the previously formed direct and indirect trust values but do not consider the impact of old trust values on the current trust values. The trust values stored over the internet last for longer duration. Hence, for old transactions, they turn vague with time, especially when only sporadic interactions has occurred. KATE promotes the exchange of only correct messages with reduced delay. It simultaneously combines the direct and indirect trust values among the drones in two different contexts. It attaches the state transition variable and the importance factor to the direct and indirect trust values during trust estimation. Weighted fused decision values is used in decision-making based on the estimated trust values. Our simulations show the efficiency of KATE in terms of high decision accuracy in minimal rounds of trust estimation.

在本文中，我们提出了一个卡尔曼信任估计器（KATE），以检查无人机互联网中无人机的不良行为。无人机互联网是一个飞行的特设网络。连接到互联网的无线移动网络是能量受限设备的无线移动网络，部署在高多维自由空间中。这导致附近面积较小，无人机密度随时间变化较大。IoD的特点是构成网络的不同所有者拥有或控制的无人机。合法无人机可能会为了自己所有者的进一步利益而自私行事，或者可能因此而受到损害。这确保建立对无人机的信任，以接受其发送的消息或感知信息的准确性。早先，已经提出了几种信任模型来实现安全和可靠的节点间通信。他们通常通过合并先前形成的直接和间接信任值来将无人机检测为恶意，但不考虑旧信任值对当前信任值的影响。通过Internet存储的信任值持续时间更长。因此，对于旧的交易，它们随着时间而变得模糊，尤其是在仅发生零星的交互时。KATE促进仅正确消息的交换，减少了延迟。它同时在两个不同的上下文中结合了无人机之间的直接和间接信任值。它在信任估计期间将状态转换变量和重要性因子附加到直接和间接信任值。加权融合决策值基于估计的信任值用于决策。