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Advancements in wireless communication and automation have revolutionized mobility systems, notably through autonomous vehicles and unmanned aerial vehicles (UAVs). UAV spatial coordinates, determined via Global Positioning System (GPS) signals, are susceptible to cyberattacks due to unencrypted and unauthenticated transmissions with GPS spoofing being a significant threat. To mitigate these vulnerabilities, intrusion detection systems (IDSs) for UAVs have been developed and enhanced using machine learning (ML) algorithms. However, Adversarial Machine Learning (AML) has introduced new risks by exploiting ML models. This study presents a UAV-IDS employing AML methodology to enhance the detection and classification of GPS spoofing attacks. The key contribution is the development of an AML detection model that significantly improves UAV system robustness and security. Our findings indicate that the model achieves a detection accuracy of 98%, demonstrating its effectiveness in managing large-scale datasets and complex tasks. This study emphasizes the importance of physical layer security for enhancing IDSs in UAVs by introducing a novel detection model centered on an adversarial training defense method and advanced deep learning techniques. [ABSTRACT FROM AUTHOR]