Abstract: An identification friend or foe system for use by a weapon to determine whether a target that has been selected is a friendly target comprises a signal source attached to the target and arranged to radiate encrypted signals. A detection system attached to the weapon includes a receiver arranged to receive the encrypted signals when the weapon is within a predetermined range from the target. Signal processing apparatus is connected to the receiver and arranged to determine whether the encrypted signals identify the target as being friendly. The central processing unit is arranged to decrypt the encrypted signal and produce a disarm signal if the target is identified as being friendly. The central processing unit preferably is also arranged to produce a signal that causes the weapon to perform a collision avoidance maneuver to avoid colliding with the target if the target is identified as being friendly.