US Patent 7024309 Autonomous station keeping system for formation flight

A system for autonomously keeping an aircraft's station in a formation flight of a plurality of aircraft includes a navigation system configured to determine a position of an aircraft. A data link is configured to allow the aircraft to communicate data with at least one other aircraft in the formation flight of the plurality of aircraft. A sensor is configured to detect a presence of another aircraft within a predetermined distance of the aircraft. A processor is configured to provide control signals to the aircraft's autoflight system to keep the aircraft at a predetermined station relative to the other of the plurality of aircraft in the formation flight.