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A unified approach to cooperative and non-cooperative Detect-and-Avoid (DAA) is a key enabler for Remotely Piloted Aircraft System (RPAS) to safely and routinely access all classes of airspace. In this paper state-of-the-art cooperative and non-cooperative DAA sensor/system technologies for manned aircraft and RPAS are reviewed and the associated multi-sensor data fusion techniques are discussed. A DAA system architecture is presented based on Boolean Decision Logics (BDL) for selecting non-cooperative and cooperative sensors/systems including both passive and active Forward Looking Sensors (FLS), Traffic Collision Avoidance System (TCAS) and Automatic Dependent Surveillance - Broadcast (ADS-B). After elaborating the DAA system processes, the key mathematical models associated with both non-cooperative and cooperative DAA functions are presented.