An aircraft ice detection system is configured to determine a condition of a cloud and includes a radar system, a lidar system, optics and a dichroic filter. The radar system is configured to project quasi-optical radiation to the cloud and receive reflected quasi-optical radiation from the cloud. The lidar system is configured to project optical radiation to the cloud and receive reflected optical radiation from the cloud. The optics are configured to direct the quasi-optical radiation and the optical radiation to the cloud and receive the reflected quasi-optical radiation and the reflected optical radiation from the cloud. The dichroic filter is configured to direct the quasi-optical radiation from the radar system to the optics, direct the optical radiation from the lidar system to the optics, direct the reflected quasi-optical radiation from the optics to the radar system and direct the reflected optical radiation from the optics to the lidar system.