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A novel physical layer authentication scheme is proposed in this paper by exploiting the time-varying carrier frequency offset (CFO) associated with each pair of wireless communications devices. In realistic scenarios, radio frequency oscillators in each transmitter-and-receiver pair always present device-dependent biases to the nominal oscillating frequency. The combination of these biases and mobility-induced Doppler shift, characterized as a time-varying CFO, can be used as a radiometric signature for wireless device authentication. In the proposed authentication scheme, the variable CFO values at different communication times are first estimated. Kalman filtering is then employed to predict the current value by tracking the past CFO variation, which is modeled as an autoregressive random process. To achieve the proposed authentication, the current CFO estimate is compared with the Kalman predicted CFO …