Disclosed are methods and systems, for a detection and avoidance system for beyond visual line of sight operations of urban air mobility in airspace. For instance, the method may include: receiving tracking data from a first source, the tracking data including information identifying a position of a tracked object within a radius of the vehicle, receiving map data from a second source, the map data comprising information identifying a position and/or a status of a mapped object within a radius of the vehicle, receiving sensor data from one or more sensors, determining a position of a target object within a radius of the vehicle by analyzing the tracking data, the map data, and/or the sensor data, and continuously determining whether to perform an adjustment to a route of the vehicle based on the determined position of each target object within the third predetermined radius of the vehicle.