I. Introduction
Benefit from their high flexibility and low deployment cost, the Unnamed Aerial Vehicle (UAV)-ground communication systems become highly appealing to overcome the geographical restrictions on communication [1]. In particular, the requirements for the increased flexibility and broad on-demand coverage of 5G and beyond networks can be effectively achieved by deploying a large number of maneuverable and low manufacturing cost UAVs to serve as aerial wireless relays for transferring information in ground communication systems [2]. Moreover, the UAV-ground communication systems integrated with Millimeter Wave (mmWave) Multi-Input Multi-Output (MIMO) technology can offer an ultra-high transmission rate and enhanced reliability, so they can efficiently support some critical applications with high-throughput and low-latency requirements, such as the remote sensing, military supervision and smart cities [3]. To ensure the secure operation of mmWave MIMO UAV-ground systems, identity authentication for a Ground Control Station (GCS) serves as a crucial issue to avoid sensitive data leakage caused by unauthorized access [4].