An authentication method includes that an authentication apparatus of an unmanned aerial vehicle (UAV) generates a session key, the authentication apparatus receives a device identification (ID) of a device and a randomly generated random number from the device of the UAV, the authentication apparatus obtains a device key of the device according to the device ID of the device, the authentication apparatus encrypts the session key and the random number according to the device key of the device, and the authentication apparatus sends the encrypted session key and the encrypted random number to the device.