Editing in After Effects

Then import the rendered video into After Effects and as well as the other render layers like the AO.

Then use the curve to change the brightness on the drone to try and match it up better to the lighting to the video.

Then make the mask layers to make the drone appear behind the trees and plants.

Then go to widow and click tracker make sure the mask layer is selected the click the Analyse button which will the track the position of the mask.

In the gaps in the trees, create the mask and change the setting from add to subtract to create the gaps in the trees.

To add the dust, I got a video of dust flicking up and duplicated to make it visible then made them into a pre comp and placed them where they should start and used the curve effect to make the dust more white so it looked more like the sand in the video.