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Turkey has again summoned the Russian ambassador after a second violation of its airspace by a Russian warplane operating in Syria in two days, the BBC reported.

It did the same after the first violation on Saturday, after which two Turkish F-16 jets were scrambled.

Turkey said the second violation occurred on Sunday.

Nato has urged Russia to end air strikes "on the Syrian opposition and civilians". Russia says it is targeting Islamic State and other Islamists.

Russia said Saturday's violation was for just a few seconds and due to poor weather. It has not officially reacted to Sunday's incident.

Saturday's interception took place near Yayladagi in the southern Hatay region, Turkey says.

A statement by Nato's 28 members, which include Turkey, warned of "the extreme danger of such irresponsible behaviour" and urged Russia "to cease and desist".

US Secretary of State John Kerry said Turkey would have been within its rights to shoot the jets down.

The Turkish Armed Forces are clearly instructed," Turkish Prime Minister Ahmet Davutoglu told Turkish TV. "Even if it is a flying bird, it will be intercepted."

But he played down the possibility of a "Turkey-Russia crisis", saying that channels between the two countries remained open.

UN spokesman Stephane Dujarric expressed concern at the dangers of having "a lot of different countries and different coalitions" carrying out air campaigns in Syria, saying the situation was "fraught with danger". He urged a renewed focus on a political solution to the conflict.