### Comparison to Other Survey Papers and Contributions  
Several surveys have explored the landscape of UAV security and forensics, each focusing on different subtopics. In 2023, [PERSON] et al. [2] presented a Cyber4 Drone survey paper that provided a systematic review of cybersecurity and forensic challenges for unmanned aerial vehicles (UAVs), including an analysis of threat models, security and privacy issues, and a taxonomy of drone forensic techniques and tools. In the same year, [PERSON] et al. [3] published a survey paper focusing on security issues, threats, and solutions for unmanned aerial vehicles (UAVs) and flying ad hoc networks (FANETs), including an analysis of the attack surface, potential threats, prevention and detection countermeasures, and simulations of four routing attacks on FANETs. [PERSON] et al. [4] provided an overview of the cybersecurity threats and challenges faced by unmanned aerial vehicles (UAVs), explored various cybersecurity strategies and techniques to protect UAVs, and identified future research directions to mitigate cybersecurity risks in UAVs. In 2022, [PERSON] et al. [5] conducted a comprehensive survey on security threats and mitigation techniques in UAV communications. [PERSON] et al. [6] presented an analysis of the security- and privacy-related concerns of UAVs, offering countermeasures and recommendations. [PERSON] et al. [7] provided a comprehensive survey of the current achievements in physical layer security (PLS) for UAV communications.  
Despite these valuable contributions, several gaps remain in the existing literature. Many surveys have focused on specific aspects of UAV security or forensics and often lack a comprehensive analysis. Our study aims to provide a holistic overview encompassing security requirements, threat models, and forensic approaches. The rapid evolution of UAV technology has introduced new security challenges that necessitate ongoing research. Existing surveys often lack a forward-looking perspective to address emerging threats. Thus, there is a critical need for a unified framework that integrates cybersecurity practices with forensic methodologies to enhance both preventive and investigative capabilities.  
Our survey significantly advanced the field of UAV security and forensics by providing an integrated analysis that bridges cybersecurity measures with forensic methodologies. This comprehensive approach covers security requirements, threat models, attack vectors, forensic methodologies, and mitigation techniques. It identifies emerging challenges due to the rapid evolution of UAV technology, proposes future research directions, and emphasizes the need for continuous innovation. The survey advocates for a unified framework to enhance both preventive and investigative capabilities and supports standardized protocols and best practices. By synthesizing previous research, it highlights key contributions and gaps and offers practical recommendations for improved UAV security and forensics. Serving as a crucial resource, it supports ongoing research, industry applications, and policy development across interdisciplinary fields, ensuring that the findings are broadly relevant and impactful.  
The contribution of this paper lies in its exhaustive review of drone threat models, exploration of forensic approaches used for investigating drone-related incidents, and analysis of persistent security challenges. In addition, it delivers a systematic taxonomy of drone forensics, detailing key artifacts, relevant tools, and benchmark datasets. This survey will serve as a significant resource for researchers, practitioners, and policymakers aiming to bolster the security and integrity of UAV operation.  
The remainder of this paper is organized as follows: Section 2 provides an overview of drone technologies. Section 3 addresses drone security vulnerabilities and evolving attack vectors. Section 4 focuses on a detailed review of drone security solutions. Section 5 presents intriguing future research opportunities, and Section 6 concludes the paper.