It could have been a Unmanned Aerial Vehicle. I don't think they are cleared for urban use yet but they are goingot become very popular in the next few years. Not being cleared doesn't mean someone wasn't testing one. A UAV is much smaller than an aircraft so it would make altitude and speed estimates hard. There are several designs out there being tested that can hover, sideslip, vtol, etc. The only thing is i would expect it to have traditional navigation lights, but they can be hard to see from the ground.
I don't believe in aliens, at least not ones that travel here and spy on us. I figure if a species can have the technology to build a ship to cross the galaxy to get here they aren't going to be afraid of us.
I do believe there is a simple explanation for most of these things, and most will never be confirmed.
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