While radio frequency fingerprint (RFF)-based wireless device authentication has been widely studied across different datasets and scenarios, there still lacks a fundamental theory to explain why and how RFF can serve as a reliable device identity, significantly hindering the practical application of such an authentication technology. In this article, we integrate the RFF modeling with authentication property analysis to propose a general theoretical framework to facilitate the development of such a theory. The RFF modeling process reveals how RFFs are induced, evolved and observed along the transmitter-channel-receiver chain, built upon which, the authentication property analysis process then outlines how the trustworthiness of an RFF should be examined in terms of its uniqueness, stability, distinguishability, and unforgeability. By linking the RFF formation/evolution to these authentication properties, the framework offers a solid foundation for understanding why and how RFF-based authentication is trustworthy in practice. We also discuss the communication-authentication co-design issue based on the theoretical insights from the proposed framework.

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