The service has been started by T3 AIR, a venture of Rajkot-based Poojara Telecom Pvt Ltd, in association with the Gujarat aviation department and the Airports Authority of India.
It will ferry pilgrims from Rajkot to Dwarka, Somnath and Ambaji.
The T3 AIR EC 130 helicopter, with a seating capacity of six passengers, will take 30 minutes to reach Somnath from Rajkot, a distance of 185 km by road.
It will take 50 minutes to reach Dwarka from here, a distance of 250 km by road.
Managing director of T3 AIR Yogesh Poojara said the service will cover other pilgrim towns in the state in future.
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