The detection of unmanned aerial vehicles (UAVs) is important for the protection of civilian and military infrastructure. In this paper we propose a cost effective UAV detection system using sound signals obtained from microphones. The recorded signals are passed through a signal processing pipeline which employs interpretable adaptive feature extractors using so-called rational Gaussian wavelets. These adaptive wavelet transformations are embedded into and trained together with an underlying small neural network which detects and classifies UAVs based on the obtained features. This leads to a physically interpretable machine learning algorithm that in addition to classifying UAVs is also capable of detecting UAV swarms. We demonstrate our results using data collected in indoor studio and noisy outdoor environments. We conclude that the proposed method outperforms traditional machine learning approaches for detecting and classifying single UAVs as well as drone swarms, while retaining a high degree of interpretability. Our implementation of the proposed methods is made publicly available for reproducibility.
@article{arxiv.2605.26310,
title = {Classification and detection of multiple UAVs using rational Gaussian wavelet neural networks},
author = {Ungvári Gergő and Ferenc Braun and Attila Ámon and Péter Kackstädter and János Volk and Péter Kovács and Tamás Dózsa},
journal= {arXiv preprint arXiv:2605.26310},
year = {2026}
}