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Herein, an acoustic and optical sensor\u2010fusion\u2010based system\u2010termed multimodal unmanned aerial vehicle 3D trajectory exposure system (MUTES) is presented to detect and track drone targets. MUTES combines multiple sensor modules including microphone array, camera, and lidar. The 64\u2010channel microphone array provides semispherical surveillance with high signal\u2010to\u2010noise ratio of sound source estimation, while the long\u2010range lidar and the telephoto camera are capable of subsequent precise target localization in a narrower but higher definition field of view. MUTES employs a coarse\u2010to\u2010fine, passive\u2010to\u2010active localization strategy for wide\u2010range detection (semispherical) and high\u2010precision 3D tracking. To further increase the fidelity, an environmental denoising model is trained, which helps to select valid acoustic features from a drone target, thus overcomes the drawbacks of the traditional sound source localization approaches when facing noise interference. The effectiveness of the proposed sensor\u2010fusion approach is validated through field experiments. To the best of the knowledge, MUTES provides the farthest detection range, highest 3D position accuracy, strong anti\u2010interference capability, and acceptable cost for unverified drone intruders.<\/jats:p>","DOI":"10.1002\/aisy.202300251","type":"journal-article","created":{"date-parts":[[2023,7,19]],"date-time":"2023-07-19T23:56:47Z","timestamp":1689811007000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":29,"title":["Drone Detection and Tracking System Based on Fused Acoustical and Optical Approaches"],"prefix":"10.1002","volume":"5","author":[{"given":"Siyi","family":"Ding","sequence":"first","affiliation":[{"name":"School of System Design and Intelligent Manufacturing Southern University of Science and Technology  Shenzhen 518000 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5440-6175","authenticated-orcid":false,"given":"Xiao","family":"Guo","sequence":"additional","affiliation":[{"name":"School of System Design and Intelligent Manufacturing Southern University of Science and Technology  Shenzhen 518000 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ti","family":"Peng","sequence":"additional","affiliation":[{"name":"School of System Design and Intelligent Manufacturing Southern University of Science and Technology  Shenzhen 518000 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiao","family":"Huang","sequence":"additional","affiliation":[{"name":"School of System Design and Intelligent Manufacturing Southern University of Science and Technology  Shenzhen 518000 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5864-4533","authenticated-orcid":false,"given":"Xiaoping","family":"Hong","sequence":"additional","affiliation":[{"name":"School of System Design and Intelligent Manufacturing Southern University of Science and Technology  Shenzhen 518000 China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2023,7,19]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1038\/nature14542"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2021.3065926"},{"key":"e_1_2_10_4_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.iot.2020.100218"},{"key":"e_1_2_10_5_1","unstructured":"J.Ochodnick`y Z.Matousek M.Babjak J.Kurty in 2017Int. 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