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Nowadays, aerial formations are frequently employed in outdoor scenarios to cooperatively explore and monitor wide areas of interest. In these applications, the vehicles are often exposed to relevant security vulnerabilities, as, for instance, the alteration of navigation signals from an attacker with map counterfeiting (if not even hijacking) purposes. In this work, we focus on an Unmanned Aerial Vehicle (UAV) formation that monitors an area, wherein navigation spoofing attacks may occur. Letting the UAVs cooperate and exploiting the redundancy in the available sensing information, a distributed procedure is proposed to ) detect spoofing attacks, and ) support the navigation in adverse conditions. The validity of the designed approach is confirmed by numerical results. Aerial vehicles for outdoor operation are generally endowed with inertial measurements, relative ranging, and GNSS sensing capability. In this …