Optimal altitude controller for super pressure aerostatic balloon

摘要

This disclosure relates to the use of an optimal altitude controller for super pressure aerostatic balloon in connection with a balloon network. The aerostatic balloon includes a bladder containing a gas that is lighter than the air present in the environment of the balloon. Additionally, the aerostatic balloon includes an envelope filled with air. A mass-changing unit configured to selectively add or remove air may control the amount of air in the envelope. Further, the balloon has a communication module configured to transmit data relating to a current balloon state, and receives data relating to a desired balloon state. Additionally, the balloon includes a processor configured to control the mass-changing unit based on the desired balloon state. The mass-changing unit of the aerostatic balloon may be powered by a renewable energy source, such as solar power. The mass-changing unit adds or removes air with an impeller.

主权项

1. A method for adjusting a variable-buoyancy vehicle state comprising:
determining a target variable-buoyancy vehicle state for a variable-buoyancy vehicle in flight, wherein the target variable-buoyancy vehicle state includes at least one of a target mass, a target altitude and a target velocity; determining a current variable-buoyancy vehicle state for the variable-buoyancy vehicle, wherein the current variable-buoyancy vehicle state includes a current mass, a current altitude and a current velocity; performing a state-change optimization to determine (1) a control policy configured to reduce power usage of the variable-buoyancy vehicle, and (2) a fill-rate control plan based on the control policy to move the variable-buoyancy vehicle from the current variable-buoyancy vehicle state to the target variable-buoyancy vehicle state, wherein the fill-rate control plan comprises a plurality of fill rates for a bladder of the variable-buoyancy vehicle and timing information indicating when each fill rate should be utilized by the variable-buoyancy vehicle; and communicating the fill-rate control plan to the variable-buoyancy vehicle.