US Patent 11749123 Autonomous air taxi separation system and method

A system for urban air mobility monitors flight separation for compliance with a safe separation distance. A reference formation airspace is established for a reference air taxi based on minimum longitudinal, lateral and vertical parameters. When penetration of the reference formation airspace is detected, a penetration airspace is established. A centroid of the penetration airspace is determined and a target separation to the centroid is supplied to the air taxi to reestablish safe separation. The extent of separation is also safely contained by the presence of virtual air taxis whose positions on the periphery of the penetrated airspace serve to limit potential penetration of surrounding air taxi air spaces.