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The authentication of flight data in Unmanned Aerial Vehicles (UAVs) is highly critical because processing fake commands by the on-board flight controller can cause fatal consequences. Depending on the criticality level of the UAV mission, multi-layer authentication techniques can be useful to assure higher security levels. This paper proposes a technique for continuous authentication of flight data based on the behavior of the UAV operator, who flies the vehicle in a manual mode. In contrast to one-time authentication, this technique allows for an on-the-fly identification of malicious commands aiming at manipulating, hijacking, or crashing the UAV. The operator behavior is defined by the sequence of flight commands sent to the drone using a standard radio control transmitter. This is based on our assumption that every UAV operator has a distinctive pattern when it comes to controlling a UAV using transmitter's …