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In this paper, we consider a two-way communication system using the unmanned aerial vehicle (UAV) as a relay (UAV-aided). This system eliminates impulse interference through an adaptive filter based on the least mean square (LMS) and uses the received signal transmitted by the UAVs to construct a parallel factor (PARAFAC) model. Based on the identifiability condition of the PARAFAC model, a pulse interference cancellation orthogonal pilot tensor (PIC-OPT) receiver without iteration is proposed. Our algorithm is also used in millimeter-wave to achieve the acquisition of channel information. Compared with the least squares method, the simulation results demonstrate the superiority of the proposed semiblind receiver in terms of the relative mean square error and bit error rate.