RELATIVE POSITIONING OF BALLOONS WITH ALTITUDE CONTROL AND WIND DATA

专利摘要:
relative positioning of balloons with altitude control and wind data. the positions of the balloons in a balloon communication network, such as a high altitude balloon mesh network, can be adjusted in relation to each other in order to try to maintain a desired network topology. in one approach, the position of each balloon can be adjusted in relation to one or more neighboring balloons. for example, the locations of a target balloon and one or more neighboring balloons can be determined. a desired movement of the target balloon can then be determined based on the locations of one or more neighboring balloons relative to the location of the target balloon. the target balloon can be controlled based on the desired movement. in some modalities, the altitude of the target balloon can be controlled in order to expose the target balloon to ambient winds that are capable of producing the desired movement of the target balloon.
公开号:BR112014016925B1
申请号:R112014016925-0
申请日:2013-01-07
公开日:2020-09-08
发明作者:Richard Wayne Devaul；Eric Teller；Clifford L. Biffle；Josh Weaver；Dan Piponi
申请人:Loon Llc；
IPC主号:

专利说明:

[0001] [001] Unless otherwise indicated herein, the materials described in this section are not prior art to the claims in this application and are not permitted to be prior art by inclusion in this section.
[0002] [002] Computing devices such as personal computers, portable computers, tablets, cell phones, and countless types of Internet-enabled devices are increasingly prevalent in various aspects of modern life. As such, the demand for data connectivity over the Internet, cellular data networks, and other networks, is growing. However, there are many areas of the world where data connectivity is not yet available or if it is available, it is unreliable and / or expensive. Consequently, additional network infrastructure is desirable. SUMMARY
[0003] [003] In a first aspect, a method is provided. The method includes determining the location of a target balloon and determining locations of one or more neighboring balloons in relation to the location of the target balloon. The target balloon includes a communication system that is operable for communicating data with at least one of the one or more neighboring balloons. The method further includes determining a desired movement of the target balloon based on the locations of one or more neighboring balloons relative to the location of the target balloon and controlling the target balloon based on the desired movement of the target balloon.
[0004] [004] In a second aspect, a non-transitory computer-readable medium is provided. The non-transitory computer-readable medium has stored instructions executable by a computing device to make the computing device perform functions. Functions include: (a) determining a target balloon location; (b) determining the location of one or more neighboring balloons in relation to the location of the target balloon; (c) determining a desired movement of the target balloon based on the locations of one or more neighboring balloons in relation to the location of the target balloon; and (d) controlling the target balloon based on the desired movement of the target balloon.
[0005] [005] In a third aspect, a balloon is provided. The balloon includes an operable communication system for data communications with one of the most other balloons in a balloon mesh network. The balloon also includes a controller attached to the communication system. The controller is configured to: (a) determine the balloon's location; (b) determining the location of one or more neighboring balloons in relation to the location of the balloon, where the one or more neighboring balloons are in the balloon mesh network; and (c) determining a desired balloon movement based on the locations of one or more neighboring balloons in relation to the balloon's location.
[0006] [006] In a fourth aspect, a method is provided. The method includes identifying a plurality of "goodness factor" for a given balloon in a high altitude network balloon, and determining a plurality of goodness scores for the given balloon. Each kindness score refers to a respective kindness factor in the plurality of kindness factors. The method also includes determining a current general goodness for the given balloon as a function of the plurality of goodness scores for the given balloon. The method also includes identifying a plurality of actions that could be taken by the given balloon and determining, for each action, the respective general goodness resulting from that action. Furthermore, the method includes selecting, from among the plurality of actions, an action that results in a general goodness that is greater than the current general goodness and controlling the given balloon to perform the selected action.
[0007] [007] In a fifth aspect, a non-transitory, computer-readable medium is provided. The non-transitory computer-readable medium has stored instructions executable by a computing device to make the computing device perform functions. The functions include: (a) identifying a plurality of goodness factors for a given balloon in a high-altitude network balloon; (b) determining a plurality of goodness scores for the given balloon, where each goodness score refers to a respective goodness factor in the plurality of goodness factors; (c) determining a current general goodness for the given balloon as a function of the plurality of goodness scores for the given balloon; (d) identify a plurality of actions that could be taken by the given balloon; (e) determine, for each action, a respective general goodness resulting from that action; (f) select, from among the plurality of actions, an action that results in a general goodness that is greater than the current general goodness; and (g) control the given balloon to perform the selected action.
[0008] [008] These, as well as other aspects, advantages and alternatives will become apparent to those of ordinary skill in the art by reading the following detailed description, with reference where appropriate for the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0009] [009] Figure 1 is a simplified block diagram illustrating a balloon network, according to an example modality.
[0010] [010] Figure 2 is a block diagram illustrating a balloon-net control system, according to an example modality.
[0011] [011] Figure 3 is a simplified block diagram, illustrating a high altitude balloon, according to an example modality.
[0012] [012] Figure 4 shows a simplified block diagram illustrating a balloon network that includes supernodes and subnodes, according to an example modality.
[0013] [013] Figure 5 illustrates a scenario for determining a desired movement of a target balloon based on the locations of four neighboring balloons, according to an example of modality.
[0014] [014] Figure 6 is a flow chart illustrating a method, according to an example of modality. DETAILED DESCRIPTION
[0015] [015] Example methods and systems are described here. Any modality of example or resource described here is not necessarily constructed as preferred or advantageous over other modalities or resources. The exemplary modalities described herein are not intended to be limiting. It will be easily understood that certain aspects of the revealed systems and methods can be arranged and combined in a wide variety of different configurations, all of which are contemplated here.
[0016] [016] In addition, the particular arrangements shown in the Figures should not be seen as limiting. It should be understood that other modalities may include more or less of each element shown in a given Figure. In addition, some of the elements illustrated can be combined or omitted. In addition, an example embodiment may include elements that are not illustrated in the Figures. 1. OVERVIEW
[0017] [017] Examples of modalities help to provide a data network that includes a plurality of balloons; for example, a mesh network formed by high altitude balloons implanted in the stratosphere. Since winds in the stratosphere can affect the locations of the balloons in a differential way, each balloon in an example network can be configured to change its horizontal position by adjusting its vertical position (ie, altitude). For example, by adjusting its height, a balloon may be able to locate the winds that will carry it horizontally (for example, latitude and / or longitudinally) to a desired horizontal location.
[0018] [018] In addition, in an example balloon network, balloons can communicate with each other using free space optical communications. For example, balloons can be configured for optical communications using ultra bright LEDs (which are also referred to as "high power" or "high output" LEDs). In some cases, lasers may be used instead of or in addition to LEDs, although regulations for laser communications may restrict the use of lasers. In addition, balloons can communicate with the ground-based station (s) using radio frequency (RF) communications.
[0019] [019] In some modalities, a high altitude balloon network may be homogeneous. That is, the balloons in a high altitude balloon network can be substantially similar to each other in one or more forms. More specifically, in a homogeneous high-altitude balloon network, each balloon is configured to communicate with one or more other balloons through free space optical links. In addition, part or all of the balloons in such a network can be additionally configured to communicate with land-based and / or satellite-based stations using RF and / or optical communications. Thus, in some modalities, the balloons can be homogeneous insofar as each balloon is configured for optical communication of free space with other balloons, but heterogeneous with respect to RF communications with ground stations.
[0020] [020] In other modalities, a high altitude balloon network can be heterogeneous, and thus can include two or more different types of balloons. For example, some balloons in a heterogeneous network can be configured as supernodes, while other balloons can be configured as subnodes. It is also possible that some balloons in a heterogeneous network can be configured to function as a supernode and a subnode. These balloons can function as a supernode or a subnode at a given time, or alternatively, act as both simultaneously, depending on the context. For example, an example balloon could aggregate research requests of a first type for transmission to an earth station. The example balloon can also send search requests of a second type to another balloon, which could act as one in that context. In addition, some balloons, which can be supernodes in an example mode, can be configured to communicate through the optical links of ground stations and / or satellites.
[0021] [021] In an example configuration, supernode balloons can be configured to communicate with nearby supernode balloons through free space optical links. However, subnode balloons may not be configured for free-space optical communication, and may instead be configured for any other type of communication, such as RF communications. In this case, a supernode can be further configured to communicate with the subnodes using RF communications. Thus, subnodes can relay communications between supernodes and one or more ground stations that use RF communications. In this way, supernodes can work together as a backhaul to the balloon network, while subnodes work to transmit communications from supernodes to ground stations. Other differences may be present between balloons in a heterogeneous balloon network.
[0022] [022] The present invention describes several examples of apparatus modalities, methods and functions executable by a computer-readable medium that are generally operable to determine the desired movement of a target balloon, based on the locations of one or more neighboring balloons in the location of the target balloon, and to control the target balloon based on the desired movement.
[0023] [023] In some embodiments, a potential energy function can be defined that assigns a potential energy to the target balloon as a function of the locations of one or more neighboring balloons and the location of the target balloon. A gradient of the potential energy function can be determined, and the desired movement of the target balloon can be determined based on the gradient.
[0024] [024] In some modalities, the desired movement of the target balloon is a horizontal movement that can be achieved by controlling the altitude of the target balloon. For example, wind data and / or in predictive models can be used to determine that ambient winds, with a speed that is adequate to achieve the desired horizontal movement, are likely to be available at a specific height. The altitude of the target balloon can then be adjusted to achieve the particular height. 2. EXAMPLE BALLOON NETWORKS
[0025] [025] Figure 1 is a simplified block diagram illustrating a balloon network 100, according to an example embodiment. As shown, the balloon network 100 includes balloons 102A to 102F, which are configured to communicate with each other via free space optical links 104. Balloons 102A to 102F can additionally or, alternatively, be configured to communicate with each other via RF 114 links. Balloons 102A to 102F can collectively function as a mesh network for packet data communications. In addition, at least some of the balloons 102A and 102B can be configured for RF communications with ground stations 106 and 112 via the respective RF links 108. In addition, some balloons, such as balloon 102F, can be configured to communicate via of an optical link 10 with the ground station 112.
[0026] [026] In an example embodiment, balloons 102A to 102F are high altitude balloons, which are implanted in the stratosphere. At moderate latitudes, the stratosphere includes altitudes between approximately 10 kilometers (km) and 50 km above the surface. At the poles, the stratosphere begins at an altitude of about 8 km. In an example modality, high altitude balloons can generally be configured to operate in an altitude range within the stratosphere that has a relatively low wind speed (for example, between 5 and 20 miles per hour (mph) (2.24 and 8.94 m / s)).
[0027] [027] More specifically, in a high altitude balloon network, balloons 102A to 102F in general can be configured to operate at altitudes between 18 km and 25 km (although other altitudes are possible). This height range can be advantageous for several reasons. In particular, this stratosphere layer generally has relatively low wind speeds (for example, winds between 5 and 20 mph (2.24 and 8.94 m / s)) and relatively little turbulence. In addition, while winds between 18 km and 25 km can vary with latitude and by season, the variations can be modeled reasonably accurately. In addition, altitudes above 18 km are typically above the maximum flight level designated for commercial air traffic. Therefore, interference with commercial flights is not a concern when balloons are deployed between 18 km and 25 km.
[0028] [028] To transmit data to another balloon, a given balloon 102A to 102F can be configured to transmit an optical signal through an optical link 104. In an example embodiment, a given balloon 102A to 102F can use one or more emitters of light (LEDs) of high power diodes to transmit an optical signal. Alternatively, some or all balloons 102A to 102F may include laser systems for optical free space communications over optical links 104. Other types of free space optical communication are possible. In addition, in order to receive an optical signal from another balloon, through an optical link 104, a given balloon 102A to 102F may include one or more optical receivers. Additional details of example balloons are discussed in greater detail below, with reference to Figure 3,
[0029] [029] In another aspect, balloons 102A to 102F can use one or more of several different RF air interface protocols to communicate with ground stations 106 and 112. Through the respective RF links 108. For example, some or all balloons 102A to 102F can be configured to communicate with ground stations 106 and 112 using the protocols described in the IEEE 802.11 standard (including any of the IEEE 802.11 revisions), various cell protocols, such as GSM, CDMA, UMTS, EV-DO, WiMAX, and / or LTE, and / or one or more proprietary protocols developed for balloon to ground RF communication, among other possibilities,
[0030] [030] In another aspect, there may be situations where RF 108 links do not provide a desired link capacity for balloon-to-ground communications. For example, increasing capacity may be desirable to provide backhaul links from a terrestrial gateway, and in other scenarios as well. Thus, an example of a network can also include downlink balloons, which could provide a high capacity air-to-ground link.
[0031] [031] For example, in balloon 100, balloon 102F is configured as a downlink balloon. Like other balloons in an example network, a 102F downlink balloon can be operable for optical communication with other balloons over optical links 104. However, a 102F downlink balloon can also be configured for free space optical communication with the ground station 112 through an optical link 110. Optical link 110 can therefore serve as a high-capacity link (compared to an RF link 108) between balloon network 100 and ground station 112.
[0032] [032] Note that in some implementations, a 102F downlink balloon can still be operated for RF communication with ground stations 106. In other cases, a 102F downlink balloon can only use an optical link for balloon-to-ground communications. In addition, while the arrangement shown in Figure 1 includes only one downlink balloon 102F, an example balloon network can also include several downlink balloons. On the other hand, a balloon network can also be implemented without downlink balloons.
[0033] [033] In other implementations, a downlink balloon can be equipped with a specialized system, high-bandwidth RF communication system for balloon-to-ground communications, instead of, or in addition to, an optical communication system of free space. The broadband RF communication system can take the form of an ultra-wideband system, which can provide an RF link with substantially the same capacity as one of the optical links 104. Other forms are also possible.
[0034] [034] Ground stations, such as ground stations 106 and / or 112, can take various forms. Generally, an earth station can include components such as transceivers, transmitters and / or receivers for communication via RF links and / or optical links with a balloon network. In addition, a ground station can use various air interface protocols to communicate with a balloon 102A to 102F over an RF link 108. As such, ground stations 106 and 112 can be configured as an access point via the which various devices can connect to balloon network 100. Ground stations 106 and 112 can have other configurations and / or serve other purposes without departing from the scope of the invention.
[0035] [035] In an additional aspect, some or all balloons 102A to 102F could be configured to establish a communication link with space satellites in addition to, or as an alternative to, a terrestrial communication link. In some modalities, a balloon can communicate with a satellite through an optical link. However, other types of satellite communications are possible.
[0036] [036] In addition, some ground stations, such as ground stations 106 and 112, can be configured as gateways between balloon network 100 and one or more other networks. These ground stations 106 and 112 can thus serve as an interface between the balloon network and the Internet, a cellular service provider's network, and / or other types of networks. Variations in this configuration and other configurations of ground stations 106 and 112 are also possible. 2a) MESH NETWORK FUNCTIONALITY
[0037] [037] As noted, balloons 102A through 102F can collectively function as a mesh network. More specifically, since balloons 102A through 102F can communicate with each other using free space optical links, the balloons can collectively function as a free space optical mesh network.
[0038] [038] In a mesh network configuration, each balloon 102A to 102F can function as a mesh network node, which is operable to receive data directed to it and route the data to other balloons. As such, data can be routed from a balloon source to a destination balloon by determining an appropriate sequence of optical links between the source balloon and the destination balloon. These optical links can be collectively referred to as a "light path" for the connection between the source and destination balloons. In addition, each of the optical links can be referred to as a "jump" in the optical path.
[0039] [039] To function as a mesh network, balloons 102A to 102F may employ various routing techniques and self-healing algorithms, in some modalities, a balloon network 100 may employ adaptive or dynamic routing, where a light path between the balloon source and destination is determined and configured when a connection is needed, and released at a later time. In addition, when adaptive routing is used, the light path can be determined dynamically depending on the current state, past state, and / or predicted state of the balloon network.
[0040] [040] In addition, the network topology can change how balloons 102A to 102F move relative to each other and / or relative to the ground. Thus, an example balloon network 100 can apply a mesh protocol to update the state of the network when the network topology changes. For example, to deal with the mobility of balloons IHE 102A to 102F, balloon network 100 can employ and / or adapt various techniques that are employed in mobile "ad hoc" networks (MANETs). Other examples are also possible.
[0041] [041] In some implementations, a balloon network 100 can be configured as a transparent mesh network. More specifically, in a transparent balloon network, balloons can include components for physical switching that are completely optical, without any electrical components involved in the physical routing of optical signals. Thus, in a transparent configuration with optical switching, signals travel through a multi-hop light path that is completely optical.
[0042] [042] In other implementations, the balloon network 100 can implement a free space optical mesh network that is opaque. In an opaque configuration, some or all balloons 102A to 102F can implement optical-electrical-optical (OEO) switching. For example, some or all of the balloons may include optical cross connections (OXCs) for OEO conversion of optical signals. Other opaque configurations are also possible. In addition, network configurations are possible that include routing paths with both transparent and opaque sections.
[0043] [043] In another aspect, balloons in an example 100 balloon network can implement Wavelength Division Multiplexing (WDM), which can help increase link capacity. When WDM is implemented with transparent switching, physical light paths through the balloon network may be subject to "wavelength continuity restriction." More specifically, because switching over a transparent network is completely optical, it may be necessary to assign the same wavelength for all optical links on a given optical path.
[0044] [044] An opaque configuration, on the other hand, can avoid restricting wavelength continuity. In particular, balloons in an opaque balloon network may include OEO switching systems operable for wavelength conversion. As a result, balloons can convert the wavelength of an optical signal at each hop along an optical path. Alternatively, optical wavelength conversion could happen in only selected hops along the optical path.
[0045] [045] In addition, several routing algorithms can be used in an opaque configuration. For example, to determine a primary optical path and / or one or more multiple backup light paths for a given connection, example balloons can apply or consider shortest path routing techniques like Dijkstra's algorithm and the kth path shorter, and / or disjoint or edge and node-diverse routing, such as the Suurballe algorithm, among others. Additionally or alternatively, techniques can be used to maintain a particular quality of service (QoS) when determining an optical path. Other techniques are also possible. 2b) STATION MAINTENANCE FUNCTIONALITY
[0046] [046] In an example embodiment, a balloon network 100 can implement station maintenance functions to help provide a desired network topology. For example, station maintenance may involve each balloon 102A to 102F maintaining and / or moving in a given position in relation to one or more other balloons in the network (and possibly in a given position in relation to the ground). As a bucket of this process, each balloon 102A to 102F can implement station maintenance functions to determine its desired position within the desired topology, and, if necessary, determine how to move to the desired position.
[0047] [047] The desired topology may vary depending on the particular implementation. In some cases, balloons can implement station maintenance to provide a substantially uniform topology. In such cases, a given balloon 102A to 102F can implement station maintenance functions to position itself substantially at the same distance (or within a certain range of distances) from adjacent balloons in balloon network 100.
[0048] [048] In other cases, a balloon network 100 may have a non-uniform topology. For example, example modalities can involve topologies where balloons are distributed more or less densely in certain areas, for several reasons. As an example, to help meet the higher bandwidth demands that are typical in urban areas, balloons can be grouped more densely over urban areas. For similar reasons, the distribution of balloons may be more dense over land than over large bodies of water. Many other examples of non-uniform topologies are possible.
[0049] [049] In another aspect, the topology of an example balloon network can be adaptable. In particular, sample balloon station maintenance functionality may allow balloons to adjust their respective placement according to a change in the desired network topology. For example, one or more balloons can move to new positions to increase or decrease the density of the balloons in a given area. Other examples are possible.
[0050] [050] In some embodiments, a balloon network 100 may employ an energy function to determine whether and / or how balloons should move to provide a desired topology. In particular, the state of a given balloon and the states of some or all of the nearby balloons can be entered for an energy function. The energy function can apply the current states of the given balloon and the nearby balloons to a desired network state (for example, a state that corresponds to the desired topology). A vector indicating a desired movement of the given balloon can then be determined by determining the gradient of the energy function. The given balloon can then determine appropriate actions to take in order to effect the desired movement. For example, a balloon can determine an altitude adjustment or adjustments so that winds will move the balloon as desired. 2c) BALLOON CONTROL IN A BALLOON NET
[0051] [051] In some modalities, station maintenance functions and / or mesh networks can be centralized. For example, Figure 2 is a block diagram illustrating a balloon-net control system, according to an example modality. In particular, Figure 2 shows a distributed control system, which includes a central control system 200 and a number of regional control systems 202A through 202B. Such a control system can be configured to coordinate certain functionalities for balloon network 204, and, as such, can be configured to control and / or coordinate certain functions for balloons 206A to 206I.
[0052] [052] In the illustrated embodiment, central control system 200 can be configured to communicate with balloons 206A to 206I through a number of regional control systems 202A to 202C. These regional control systems 202A to 202C can be configured to receive communications and / or aggregate data from balloons in the respective geographic areas they cover, and to relay communications and / or data to central control system 200. In addition, systems Regional control systems 202A to 202C can be configured to route communications from central control system 200 to balloons in their respective geographic areas. For example, as shown in Figure 2, regional control system 202A can relay communications and / or data between balloons 206A and 206C to central control system 200, regional control system 202b can relay communications and / or data between balloons 206D to 206F and central control system 200, and regional control system 202C can relay communications and / or data between 206G 206I balloons and a central control system 200.
[0053] [053] In order to facilitate communications between the central control system 200 and balloons 206A to 206I, certain balloons can be configured as downlink balloons, which are operable to communicate with regional control systems 202A to 202C. Consequently, each regional control system 202A to 202C can be configured to communicate with the balloon or downlink balloons in the respective geographical area it covers. For example, in the illustrated embodiment, balloons 206A, 206F, and 206I are configured as downlink balloons. As such, regional control systems 202A to 202C can communicate with balloons 206A, 206F and 206I respectively via optical links 206, 208 and 210, respectively.
[0054] [054] In the illustrated configuration, only some of the balloons 206A to 206I are configured as downlink balloons. Balloons 206A, 206F, and 206I that are configured as downlink balloons can relay communications from central control system 200 to other balloons in the balloon network, such as balloons 206B to 206E, 206G, and 20611. However, it must be understood that in some implementations, it is possible that all balloons can function as downlink balloons. In addition, while Figure 2 shows several balloons configured as downlink balloons, it is also possible for a balloon network to include only one downlink balloon, or possibly even no downlink balloon.
[0055] [055] Note that a regional control system 202A to 202C may in fact only be a certain type of ground station that is configured to communicate with downlink balloons (for example, as ground station 112 in Figure I). Thus, although it is not shown in Figure 2, a control system can be implemented in conjunction with other types of ground stations (for example, access points, ports, etc.).
[0056] [056] In a centralized control device, as shown in Figure 2, the central control system 200 (and possibly regional control systems 202A to 202C as well) can coordinate certain mesh network functions for the network. balloon 204. For example, balloons 206A to 206I can send to the central control system 200 certain status information, which the central control system 200 can use to determine the status of the balloon network 204. The status information of a given balloon may include location data, optical link information (for example, the identity of other balloons with which the balloon has established an optical link, the link bandwidth, use of wavelength and / or availability on a link, etc.) , wind data collected by the balloon, and / or other types of information. Therefore, the central control system 200 can aggregate status information from some or all balloons 206A to 206I, in order to determine a general state of the network.
[0057] [057] The general state of the network can then be used to coordinate and / or facilitate certain mesh network functions such as determining light paths for connections. For example, central control system 200 can determine a current topology based on aggregation status information from some or all balloons 206A through 206I. The topology can provide an image of the current optical links that are available in the balloon network and / or the availability of wavelengths in the links. This topology can then be sent to some or all of the balloons so that a routing technique can be employed to select suitable light paths (and possibly backup light paths) for communications through the balloon network 204.
[0058] [058] In an additional aspect, the central control system 200 (and possibly regional control systems 202A to 202C as well) can also coordinate certain network maintenance functions for balloon network 204. For example, the central control system 200 can enter status information that is received from balloons 206A to 206I for an energy function, which can effectively compare the current network topology with a desired topology, and provide a vector indicating a direction of movement (if any) for each balloon, in such a way that the balloons can move to the desired topology. In addition, the central control system 200 can use altitude wind data to determine respective altitude adjustments that can be initiated to achieve movement toward the desired topology. The central control system 200 can provide and / or support other station maintenance functions as well.
[0059] [059] Figure 2 shows a distributed arrangement that provides centralized control, with regional control systems 202A to 202C coordinating communications between a central control system 200 and a balloon network 204. Such an arrangement can be useful for providing centralized control for a network that balloon that covers a large geographic area. In some embodiments, a distributed arrangement may even support a general balloon network that provides coverage everywhere on Earth. Of course, a distributed control arrangement can be useful in other scenarios as well.
[0060] [060] In addition, it must be understood that other control system arrangements are also possible. For example, some implementations may include a centralized control system with additional layers (for example, subregional systems within regional control systems, and so on). Alternatively, control functions can be provided by a single centralized control system, which communicates directly with one or more downlink balloons.
[0061] [061] In some modalities, control and coordination of a balloon network can be shared by a terrestrial control system and a balloon network to different degrees, depending on the implementation. In fact, in some modalities, there may be land-based control systems. In such a modality, all network control and coordination functions can be implemented by the balloon network itself. For example, certain balloons can be configured to provide the same or similar functions as central control system 200 and / or regional control systems 202A to 202C. Other examples are also possible.
[0062] [062] In addition, control and / or coordination of a balloon network can be decentralized. For example, each balloon can transmit status information to, and receive status information from, some or all of the nearby balloons. In addition, each balloon can relay status information it receives from a nearby balloon to some or all of the nearby balloons. When all balloons do this, each balloon may be able to individually determine the state of the network. Alternatively, some balloons can be designed to aggregate status information for a given portion of the network. These balloons can then coordinate with each other to determine the general state of the network.
[0063] [063] Furthermore, in some respects, control of a balloon network can be partially or entirely localized, in such a way that it is not dependent on the general state of the network. For example, individual balloons can implement station maintenance functions that only consider nearby balloons. In particular, each balloon can implement an energy function that takes into account its own state and the states of nearby balloons. The energy function can be used to maintain and / or move to a desired position with respect to the nearby balloons, without necessarily considering the desired topology of the network as a whole. However, when each balloon implements this energy function for station maintenance, the balloon network as a whole can maintain and / or move towards the desired topology.
[0064] [064] As an example, each balloon A ma receives information from distance d1 to dk with respect to each of the k nearest neighbors. Each balloon A can treat the distance for each of the k balloons as a virtual spring with a vector representing a force direction from the first nearest neighbor balloon i towards balloon A and with a magnitude of force proportional to di. Balloon A can summarize each of the k vectors and the summarized vector is the desired motion vector for balloon A. Balloon A can try to achieve the desired motion by controlling its altitude.
[0065] [065] Alternatively, this process can assign the magnitude of force of each of these virtual forces equal to di x di, where di is proportional to the distance to the second nearest neighbor balloon, for example. Other algorithms for assigning magnitudes of force to respective balloons in a mesh network are possible. In another embodiment, a similar process can be performed for each of the k balloons and each balloon can transmit its planned motion vector to its neighboring locations. Further rounds of refinement for each planned motion vector of the balloon can be made based on the corresponding planned motion vectors of its neighbors. It will be apparent to those skilled in the art that other algorithms can be implemented in a balloon network in an effort to maintain a set of balloon spacings and / or a specific network capacity level over a given geographic location. 2d) EXAMPLE BALLOON CONFIGURATION
[0066] [066] Various types of balloon systems can be incorporated into an example balloon network. As mentioned above, an example modality can use high altitude balloons, which could normally operate in an altitude range between 18 km and 25 km. Figure 3 shows a high altitude balloon 300, according to an example embodiment. As shown, balloon 300 includes an envelope 302, a skirt 304, a charge 306, and a cutting system 308, which is attached between balloon 302 and charge 304.
[0067] [067] The casing 302 and skirt 304 can take several forms, which can be known today or still to be developed. For example, housing 302 and / or skirt 304 may be made of materials that include metallized Mylar or BoPet. Additionally or, alternatively, some or all of the casing 302 and / or skirt 304 can be constructed from a highly flexible latex material or a rubber material, such as chloroprene. Other materials are also possible. In addition, the shape and size of housing 302 and skirt 304 may vary depending on the particular implementation. In addition, housing 302 can be filled with several different types of gases, such as helium and / or hydrogen. Other types of gases are possible, too.
[0068] [068] The balloon load 306 300 may include a processor 312 and built-in data storage, such as memory 314. Memory 314 may take the form of or include a non-transitory computer-readable medium. The non-transitory computer-readable medium may have instructions stored therein, which can be accessed and executed by the 312 processor in order to perform the balloon functions described herein. Thus, processor 312, in conjunction with instructions stored in memory 314, and / or other components, can function as a balloon controller 300.
[0069] [069] The balloon load 306 300 may also include several other types of equipment and systems to provide a number of different functions. For example, load 306 can include an optical communication system 316, which can transmit optical signals through an ultra-bright LED system 320, and which can receive optical signals through an optical communication receiver 322 (for example, a receiver system photodiode). In addition, payload 306 may include an RF communication system 318, which can transmit and / or receive RF communications via an antenna system 340.
[0070] [070] Charge 306 may also include a power source 326 to supply power to the various components of balloon 300. Power source 326 may include a rechargeable battery. In other embodiments, the power source 326 may additionally or alternatively represent other means known in the art for producing power. In addition, balloon 300 may include a solar power generation system 327. Solar power generation system 327 may include solar panels and can be used to generate power that charges and / or is distributed by power source 326.
[0071] [071] Payload 306 may also include a positioning system 324. Positioning system 324 could include, for example, a general positioning system (GPS), an inertial navigation system, and / or a star tracking system . The positioning system 324 can additionally or alternatively include several motion sensors (for example, accelerometers, magnetometers, gyroscopes, and / or compasses).
[0072] [072] The positioning system 324 can additionally or alternatively include one or more video sensors and / or even cameras, and / or several sensors for capturing environmental data.
[0073] [073] Some or all components and systems within the 306 load can be implemented in a radiosonde or other probe, which can be operable to measure, for example, pressure, altitude, geographic position (latitude and longitude), temperature, relative humidity and / or wind speed and / or wind direction, among other information.
[0074] [074] As noted, balloon 300 includes an ultra-bright LED system 320 for optical communication of free space with other balloons. As such, optical communication system 316 can be configured to transmit a free space optical signal by modulating the ultra-bright LED system 320. The optical communication system 316 can be implemented with mechanical systems and / or with hardware, firmware and / or software. Generally, the way in which an optical communication system is applied can vary, depending on the particular application. The optical communication system 316 and other associated components are described in more detail below.
[0075] [075] In an additional aspect, balloon 300 can be configured to control altitude. For example, balloon 300 may include a variable flotation system, which is configured to change the altitude of balloon 300 by adjusting the volume and / or density of the gas in balloon 300. A variable flotation system can take many forms, and it can in general be any system that can change the volume and / or density of gas in housing 302.
[0076] [076] In an example embodiment, a variable flotation system can include a bladder 310 which is located inside the housing 302. Bladder 310 can be an elastic chamber configured to contain liquid and / or gas. Alternatively, bladder 310 does not need to be inside housing 302. For example, bladder 310 could be a rigid bladder that can be pressurized well beyond neutral pressure. The buoyancy of balloon 300 can therefore be adjusted by changing the density and / or volume of gas in the bladder 310. To change the density of the bladder 310, the balloon 300 can be configured with heating systems and / or mechanisms and / or cooling of the gas in the bladder 310. In addition, to change the volume, the balloon 300 may include pumps or other resources for adding gas for and / or removing the gas from the bladder 310. Additionally, or alternatively, to change the bladder volume 310, balloon 300 may include release valves or other features that are controllable to allow gas to escape from bladder 310. Various bladders 310 could be implemented within the scope of this disclosure. For example, several bladders could be used to improve the stability of the balloon.
[0077] [077] In an example embodiment, housing 302 can be filled with helium, hydrogen or other material lighter than air. The housing 302 can thus have an associated upward buoyant force. In such an embodiment, air in the bladder 310 can be considered a ballast tank that can have an associated downward ballast force. In another example embodiment, the amount of air in the bladder 310 can be changed by pumping air (for example, with an air compressor) into and out of the bladder 310. By adjusting the amount of air in the bladder 310, the ballast force can be controlled. In some embodiments, the ballast force may be used, in part, to counteract the buoyant force and / or provide altitude stability.
[0078] [078] In other embodiments, the casing 302 can be substantially rigid and includes a closed volume. Air could be evacuated from housing 302 while the closed volume is substantially maintained. In other words, at least a partial vacuum can be created and maintained within the closed volume. Thus, the housing 302 and the interior volume can become lighter than air and provide a buoyant force. In yet other embodiments, air or other material can be controlled in a partial vacuum of the closed volume in an effort to adjust the total buoyancy force and / or provide altitude control.
[0079] [079] In another embodiment, a portion of housing 302 may have a first color (for example, black) and / or a first material from the rest of housing 302, which may have a second color (for example, white ) and / or a second material. For example, the first color and / or the first material can be configured to absorb a relatively greater amount of solar energy than the second color and or second material. Thus, rotation of the balloon so that the first material is facing the sun can act to heat the casing 302, as well as the gas inside the casing 302. In this way, the buoyancy force of the casing 302 can increase. By rotating the balloon so that the second material faces the sun, the temperature of the gas inside the casing 302 can decrease. Consequently, the buoyancy force may decrease. In this way, the flotation force of the balloon can be adjusted by changing the temperature / volume of gas inside the casing 302 using solar energy. In such modalities, it is possible that a bladder 310 may not be a necessary element of balloon 300. Thus, in several modalities contemplated, control of the altitude of balloon 300 can be achieved, at least in part, by adjusting the rotation of the balloon with relation to the sun.
[0080] [080] In addition, a 306 balloon may include a navigation system (not shown). The navigation system can perform station maintenance functions to maintain the position within and / or move to a position according to a desired topology. In particular, the navigation system can use altitude wind data to determine altitude adjustments that result in the wind carrying the balloon in a desired direction and / or to a desired location. The height control system can then make adjustments to the density of the balloon chamber in order to make the altitude adjustments determined and make the balloon move laterally in relation to the desired direction and / or to the desired location. Alternatively, altitude adjustments can be calculated using a terrestrial or satellite-based control system and communicated to the high altitude balloon. In other modalities, specific balloons in a heterogeneous balloon network can be configured to calculate altitude adjustments for other balloons and transmit adjustment commands to other balloons.
[0081] [081] As shown, balloon 300 also includes a cutting system 308. Cutting system 308 can be activated to separate load 306 from the rest of balloon 300. Cutting system 308 can include at least one connector, such as a balloon cable, connecting charge 306 to housing 302 and a means for cutting the connector (for example, a cutting mechanism or an explosive screw). In an example embodiment, the balloon cable, which can be nylon, is wrapped with a nickel-chrome wire. A current can be passed through the nickel-chromium wire to heat and melt the cable, cutting the charge 306 away from housing 302.
[0082] [082] The cut functionality can be used any time the load needs to be accessed on the ground, for example, when it is time to remove the balloon 300 from a balloon net, when maintenance is due on systems within the load 306, and / or when power source 326 must be recharged or replaced.
[0083] [083] In an alternative arrangement, a balloon may not include a cutting system. In such an arrangement, the navigation system can be operated to navigate the balloon to a destination location, in case the balloon needs to be removed from the network and / or accessed from the ground. In addition, it is possible that a balloon can be self-sufficient, so that it does not need to be accessed on the floor. In yet other modalities, balloons in flight can be served by specific service balloons or another type of service aerostat or service aircraft. 2e) HETEROGENE NETWORK OF EXAMPLE
[0084] [084] In some embodiments, a high altitude balloon network may include supernode balloons, which communicate with each other via optical links, as well as subnode balloons, which communicate with supernode balloons via RF links . Generally, optical links between supernode balloons can be configured to have more bandwidth than RF links between supernode and subnode balloons. As such, supernode balloons can function as the backbone of the balloon network, while subnodes can provide subnets providing access to the balloon network and / or connect the balloon network to other networks.
[0085] [085] Figure 4 is a simplified block diagram illustrating a balloon network that includes supernodes and subnodes, according to an example modality. More specifically, Figure 4 illustrates a portion of a balloon network 400 that includes supernode balloons 410A to 410C (which can also be referred to as "supernodes") and subnode balloons 420 (which can also be referred to as "subnodes") .
[0086] [086] Each supernode balloon 410A to 410C can include a free space optical communication system that is operable for packet data communication with other supernode balloons. As such, supernodes can communicate with each other through optical links. For example, in the illustrated embodiment, supernode 410A and supernode 401B can communicate with each other over optical link 402, and supernode 410A and supernode 401C can communicate with each other over optical link 404.
[0087] [087] Each of the subnode balloons 420 may include a radio frequency (RF) communication system that is operable for packet data communication over one or more overhead RF interfaces. Thus, each supernode balloon 410A to 410C can include an RF communication system that is operable to route packet data to one or more nearby subnode balloons 420. When a subnode 420 receives packet data from a supernode 410, subnode 420 can use its RF communication system to route packet data to a ground station 430 via an RF air interface.
[0088] [088] As mentioned above, supernodes 410A to 410C can be configured for both long-range optical communication with other supernodes and short-range RF communication with nearby subnodes 420. For example, supernodes 410A to 410C can use ultra bright or LEDs. high power to transmit optical signals through 402, 404 optical links, which can extend up to 100 miles, or possibly more. Configured as such, the supernodes 410A to 410C can be capable of optical communications at data rates of 10 to 50 Gbit / s or more.
[0089] [089] A greater number of high altitude balloons can then be configured as subnodes, which can communicate with terrestrial Internet nodes with data rates of the order of about 10 Mbit / sec. For example, in the illustrated implementation, subnodes 420 can be configured to connect supernodes 410 to other networks and / or directly to client devices.
[0090] [090] Note that the data speeds and link distances described in the example above and elsewhere in this document are provided for illustrative purposes and should not be considered as limiting; other link speeds and distances are possible.
[0091] [091] In some embodiments, supernodes 410A to 410C may function as a core network, while subnodes 420 function as one or more access networks for the core network. In such an embodiment, some or all of the subnodes 420 may also function as gateways to the balloon network 400. Additionally or alternatively, some or all ground stations 430 may function as gateways to the balloon network 400. 3. EXAMPLE APPROACHES FOR MAINTENANCE OF A DESIRED NETWORK TOPOLOGY
[0092] [092] The positions of the balloons in a high altitude balloon network can be adjusted to maintain a desired network topology. Maintaining a desired network topology can involve maintaining a desired balloon density over certain areas, desired balloon altitudes, a desired arrangement of certain types of balloons (for example, supernode balloons and subnode balloons), a number desired "hops" between the different points in the network, and / or any other preferences regarding the placement or arrangement of balloons. For example, it may be desirable to maintain a relatively high balloon density over densely populated areas (such as cities or metropolitan areas), while a relatively low balloon density may be sufficient over less populated or depopulated areas (such as deserts or oceans) . However, even in relatively unpopulated areas, a certain number and arrangement of balloons can be maintained in order to provide communication connectivity between different portions of the network.
[0093] [093] In an approach to maintaining a desired network topology, balloon positions can be adjusted in relation to locations on the ground. For example, the position of a balloon used for downlink communications can be controlled so that it is within the communication range of an earth station. Other types of balloons can also be controlled to be within a given range at a specific terrestrial location. Thus, a desired arrangement of the balloons over a metropolitan area can be maintained by controlling the positions of the balloons to be within the respective ranges of the respective terrestrial positions.
[0094] [094] In some cases, there may be a total flow of balloons through particular areas, for example, due to prevailing winds in the stratosphere. In such cases, a desired network topology can still be maintained based on terrestrial locations. For example, the movement of balloons in relation to each other can be controlled so that when a balloon moves outside the range of its respective terrestrial location, a replacement balloon also moves within the range. Other examples of maintaining a desired network topology based on terrestrial locations are possible.
[0095] [095] In another approach to maintaining a desired network topology, the balloon positions can be adjusted in relation to each other. For example, the position of a target balloon can be adjusted in relation to one or more neighboring balloons. Determining which balloons are included as "neighboring balloons" of a target balloon can be done in different ways.
[0096] [096] In one example, neighboring balloons can be made like the N balloons in the network that are closest to the target balloon, where N is a predetermined number. N could be as small as one or as large as ten or more. In some cases, N can be selected for a target balloon based on where the target balloon is located (for example, N can be larger if the target balloon is over a highly populated area or smaller if the target balloon is over an area smaller population).
[0097] [097] In another example, any balloons in the network that are within a predefined distance from the target balloon can be identified as neighboring balloons. The predefined distance may depend on where the target balloon is located (for example, the predefined distance may be less if the target balloon is over a very densely populated area, or greater if the target balloon is over a less populated area). Alternatively, the predefined distance can be taken as the distance over which the target balloon can communicate with other balloons. Thus, all balloons in the network that are within a communication range of the given balloon can be identified as neighboring balloons.
[0098] [098] The position of the target balloon can be adjusted based on one or more neighboring balloons in order to maintain a desired distance or a desired range of distances between the target balloon and its neighboring balloons. In this regard, one can imagine a virtual spring between the target balloon and each of its neighboring balloons.
[0099] [099] If the distance between the target balloon and a given neighbor balloon is less than the desired distance, then the virtual spring between the n target balloon and the given neighbor balloon can be seen as compressed. The compressed spring can be considered to exert a virtual force on the target balloon in an outward direction from the given neighboring balloon. This virtual force can result in the target balloon being controlled in order to move away from the given neighbor balloon.
[0100] [100] On the other hand, if the distance between the target balloon and the given neighbor balloon is greater than the desired distance, then the virtual spring between the target balloon and the given neighbor balloon can be seen as stretched. The stretched spring can be considered as exerting a virtual force on the target balloon in the direction of the given neighboring balloon. This virtual force can result in the target balloon being controlled in order to move towards the given neighbor balloon.
[0101] [101] The concept of a virtual spring can be formalized using the well-known potential energy function for a spring to assign "potential energy" to the target balloon as a function of the distance between the target balloon and the neighboring balloon. The following is an example of such a potential energy function: U = 1 / 2k (r - R) 2, where U is the potential energy attributed to the target balloon, k is the "spring constant" of the virtual spring, r is the actual distance between the target balloon and the given neighbor balloon, and R is the desired distance between the target balloon and the given neighbor balloon.
[0102] [102] Given this potential energy function, the virtual force exerted on the target balloon can be expressed as: F = -k (r - R), where F is the virtual force, k is the spring constant of the virtual spring, is the actual distance between the target balloon and the given neighbor balloon, and R is the desired distance between the target balloon and the given neighbor balloon.
[0103] [103] Although the above discussion concerns potential energy and virtual strength for a target balloon based on only one neighbor balloon, the method can be generalized for several neighboring balloons. In particular, each of the multiple neighboring balloons can be associated with an individual potential energy function, which can be a function of the respective distance between the target balloon and the neighboring balloon in the manner described above. Thus, the i-th neighbor balloon can be associated with an individual potential energy function as follows: Ui = 1 / 2ki (ri -Ri) 2, where Ui is the contribution of the i-th neighbor balloon to the potential energy of the target balloon, ki is the spring constant for the virtual spring between the target balloon and the i th neighbor balloon, ri is the actual distance between the target balloon and the neighbor balloon and Ri is the desired distance between the target balloon and the i-th neighbor balloon. As this expression indicates, different neighboring balloons can be associated with different desired distances and / or different spring constants. The different parameters could reflect, for example, differences in the types or functions of the balloons. For example, the desired distances for neighboring balloons that are supernodes may be different than the desired distances for neighboring balloons that are subnodes. Other differences are also possible.
[0104] [104] The total potential energy function for the target balloon can be taken as the sum of the individual potential energy functions for each of its neighboring balloons: U = ΣUi. The virtual force exerted on the target balloon can be related to the gradient of the general potential energy function as follows: F ⃗ = -∇U Naturally, this virtual force can also be considered to be the sum of vectors of individual virtual forces exerted on the target balloon for each of its neighboring balloons:
[0105] [105] Since the virtual force exerted on a target balloon includes contributions from each of its neighboring balloons, it is possible for the target balloon to move in the general direction of a neighboring balloon that is already closer than the desired distance ( for example, because another neighboring balloon may be even closer). It is also possible for the target balloon to generally move outward from a neighboring balloon that is already farther away than the desired distance (for example, in order to approach another neighboring balloon that is more distant). These points are illustrated by scenario 500 shown in Figure 5.
[0106] [106] In scenario 500, a target balloon 502 is shown at the origin of axes of xy coordinates, and the locations of the four neighboring balloons (neighboring balloons 504, 506, 508, and 510) are indicated by vectors r1⃗, r2⃗, r3⃗ and r4⃗ As shown, neighbor balloon 504 is in the first quadrant, neighbor balloon 506 is in the second quadrant, neighbor balloon 508 is in the third quadrant, and neighbor balloon 510 is in the fourth quadrant. It is to be understood that this provision is merely an example that is presented for purposes of illustration. Target balloon 502 can have a greater or lesser number of neighboring balloons, and neighboring balloons can be located differently than shown in Figure 5.
[0107] [107] The x-y coordinates in Figure 5 can represent terrestrial coordinates. Thus, in addition to coordinates in the xy plane, each of the balloons 502-510 can have respective z coordinates (that is, altitudes) that are not indicated in Figure 5. In addition, the discussion of distances between balloons in the scenario 500 may refer to lateral distances in the xy plane, which does not take into account differences in altitude between balloons.
[0108] [108] Scenario 500 assumes that target balloon 502 has the same desired distance, R, for each of neighboring balloons 504-510. This desired distance is indicated by the dashed circle in Figure 5. As shown, neighboring balloons 504 and 508 are further apart than the desired distance from target balloon 502, while neighboring balloons 506 and 510 are less apart than the desired distance of target balloon 502.
[0109] [109] Each of the neighboring balloons 504-510 can exert a virtual force on the respective target balloon 502 based on the "virtual spring" model described above. The net virtual force acting on target balloon 502 will be the vectorial sum of the virtual forces exerted by neighboring balloons 504-510. In particular, neighboring balloons 504 and 508 will both exert a force of attraction on target balloon 502 since both are further apart than the desired distance from target balloon 502. However, neighboring balloon 504 is further away than neighboring balloon 508. Thus, neighboring balloon 504 can exert a greater force of attraction than neighboring balloon 508. The net effect of these attractive forces can be a virtual force toward the first quadrant where neighboring balloon 504 is located. Likewise, neighboring balloons 506 and 510 will both exert a repulsive force on target balloon 502, since they are less apart than the desired distance from target balloon 502. However, neighboring balloon 510 is closer to neighboring balloon 506. Thus , neighboring balloon 510 can exert a greater repulsion force than neighboring balloon 506. The net effect of these repulsive forces can be a virtual force toward the second quadrant where neighboring balloon 506 is located. Thus, in scenario 500, the general virtual force in target balloon 502, which results from the net attraction forces and the net repulsion forces, can be in a direction that is generally along the positive y-axis.
[0110] [110] The virtual force acting on the target balloon 502 can be used to determine a desired movement of the target balloon 502. The desired movement can be, for example, a desired speed, a desired change in speed, a desired acceleration, or a displacement wanted. In addition, the desired movement can be a horizontal movement (that is, a movement in the x-y plane), or the desired movement can include a desired change in height. The target balloon 502 can be controlled (for example, using a target balloon controller 502 or via a remote control) in order to try to achieve the desired movement, as described in more detail below.
[0111] [111] The direction of the desired movement can be based on the direction of the virtual force, and the magnitude of the desired movement can be based on the magnitude of the virtual force. Thus, if the desired movement is a desired speed, then the direction of the desired speed may correspond to the direction of the virtual force, and the magnitude of the desired speed may be a function of the magnitude of the virtual force. In this way, greater virtual strength can result in greater speed. If the desired movement is a desired displacement (that is, a desired movement distance in a desired direction), then the desired movement distance may be a function of the magnitude of the virtual force and the desired movement direction may correspond to the direction of the force virtual. In this way, a greater virtual force can result in a greater travel distance. Thus, if the desired movement is defined in terms of displacement, speed, acceleration, or other parameter, the magnitude of movement of the desired target of balloon 502 can be greater or less depending on the magnitude of the virtual force under target balloon 502.
[0112] [112] Although the discussion above refers to potential energy functions that are based on virtual springs, it should be understood that other types of potential energy functions could be used. In general, the potential energy, U, of a target balloon can be a function of the positions of the target balloon in neighboring balloons: U (r0⃗, r1⃗, r2⃗,… rn⃗) where n is an integer greater than or equal to one , vector r0⃗ corresponds to the location of the target balloon, and vectors r1⃗, r2⃗ to rn⃗ correspond to the locations of the n neighboring balloons. The locations of the target balloon and the neighboring balloon can be either in terms of terrestrial coordinates (that is, the coordinates in the x-y plane) or for coordinates that include height (that is, coordinates) in the xyz space.
[0113] [113] In some embodiments, the potential energy may be a function of the distances between the target balloon and each of the n neighboring balloons. For example, the potential energy, U, could have the following functional form:
[0114] [114] The virtual force can be related to the gradient of the potential energy function, as follows: F⃗ = -∇U (r0⃗, r1⃗, r2⃗,… rn⃗) in which the gradient is determined by taking partial derivatives in relation to the coordinates of the target balloon. As discussed above, the desired movement of the target balloon can be based on the virtual force and thus based on the gradient of the potential energy function.
[0115] [115] The desired movement of the target balloon can also be determined from the potential energy function in other ways. For example, the potential energy function can have a minimum of coordinates that correspond to a desired location of the target balloon. In this case, the desired movement can be a movement to the desired location, that is, a movement that minimizes the potential energy function. Other methods can also be used to determine a desired movement of the target balloon based on the potential energy function.
[0116] [116] Two approaches to maintaining a desired network topology are discussed above: an approach based on adjusting the positions of the balloons relative to terrestrial locations and an approach based on adjusting the positions of the balloons relative to each other. In addition, these two approaches can be combined. For example, the position of a target balloon can be modified using an algorithm that takes into account its location in relation to one or more terrestrial locations, as well as its location in relation to one or more neighboring balloons. The algorithm may involve a potential energy function that includes contributions associated with the distances between the target balloon and neighboring balloons and contributions associated with the distances between the target balloon and terrestrial locations. The potential energy function can be as follows:
[0117] [117] The concept of a potential energy function can be further generalized as a "goodness" function that can take into account several different types of "goodness" factors. Such "goodness" factors can refer to the spacing between balloons, land locations, altitude, wind speeds that exist near balloons, and / or other types of considerations. For example, k "goodness" factors can be identified for a given balloon. For each "goodness" factor, a current "goodness" score, Gi, where i = 1 to k, can be determined for the given balloon.
[0118] [118] A possible "goodness" factor may be an altitude factor that provides a better "goodness" score for a lower altitude. This kind of "goodness" factor may reflect a principle that, all things being equal, it is better for a balloon to be smaller than larger in order to obtain a better RF connection to the ground. Another possible "goodness" factor may be a geographic location factor that allows for a better "goodness" score to be over certain desired geographical areas and / or a lower "goodness" score to be over certain geographical areas that should be avoided. . This kind of "goodness" factor may reflect a principle that, all things being equal, it is better to be over certain geographical areas than others. For example, being on the open ocean can, in general, be associated with a negative "goodness" score. However, being on shipping routes in the ocean can be associated with a positive "goodness" score. Other types of factors are also possible.
[0119] [119] In addition to determining k "goodness" scores for k "goodness" factors for a given balloon, it may be possible to consider several actions that the given balloon can take in order to improve one or more of these "goodness" scores. Such actions may include, for example, a movement in a particular direction. The movement can be a horizontal movement (that is, a change in terrestrial position), a vertical movement (that is, a change in altitude), or a combination of vertical and horizontal movements. The action could also be an adjustment in the balloon's buoyancy, an adaptation of an airfoil (a kit, wing, or sail), or some other type of adjustment that can affect the way the balloon moves in response to ambient winds or by its own means.
[0120] [120] A given action, A, can improve one or more "goodness" scores for a given balloon. However, the action can also negatively affect one or more "goodness" scores on the given balloon. Thus, each "goodness" score, Gi, can be considered a function of action A, so that we have Gi (A) for the given balloon, where i = 1 to k. The overall effect of the action, A, can be determined by calculating a "general goodness," O, as a function of the individual "goodness" scores: O = W (Gi (A), .... Gk (A )). The function, W, can be any weighting function that determines how each "goodness" score contributes to "general goodness". For example, "goodness" scores can have the same weight, so "general goodness" can simply be the sum of individual "goodness" scores. Alternatively, some "goodness" scores may be weighted more heavily than others, or relative weights may be dependent on the scores themselves.
[0121] [121] The merits of a particular action, A, for a given balloon can be determined by calculating the resulting "general goodness", O, for that given balloon. Several different actions can be evaluated in this way, and the action that maximizes O may be taken as the desired action. The given balloon can then be controlled to perform the desired action.
[0122] [122] By controlling individual balloons based on "goodness" factors, a desired network topology can be achieved. The topology of the desired network can be, in a simple case, a network in which the balloons maintain an equal spacing. However, when "goodness" factors, other than relative spacing, are considered, the desired network topology could be more complicated. For example, the relative spacing between balloons may be greater in some areas than in others.
[0123] [123] It is also possible to use different techniques to achieve a desired network topology at different times. For example, a standard adjustment technique can be applied under typical conditions. However, certain undesirable conditions (such as excessive balloon density) can develop so that a different type of adjustment technique can be applied temporarily (for example, until the undesirable condition is alleviated).
[0124] [124] As an example, when the density of balloons in a given area becomes undesirably high, the balloons in that area can "draw" in some way (any type of low probability random selection) to select one or more balloons to leave the group. A selected balloon could increase or decrease its altitude until it reached a speed and direction that are significantly different from that of the group. The selected balloon can then maintain this different speed and direction for a period of time sufficient to "randomize" the balloon distribution. At that point, the standard adjustment technique can be reapplied. This randomization technique can be used to break up pieces of balloons, with a low probability of reshaping clusters. 4. EXAMPLE METHODS TO ACHIEVE A DESIRED MOVEMENT
[0125] [125] As mentioned above, a desired network topology can be maintained by adjusting the positions of individual balloons in the balloon network. Adjusting the position of a particular target balloon may involve determining a desired target balloon movement (for example, based on a potential energy function) and controlling the target balloon to obtain the desired movement. The desired movement of the target balloon can be achieved in several ways.
[0126] [126] In one approach, a desired horizontal movement of the target balloon can be achieved by adjusting the altitude of the target balloon. In this regard, winds in the stratosphere normally follow a pattern in which the wind speed decreases with increasing altitude to altitudes between about 15 km and 20 km, reaching a local minimum between about 20 km and 25 km, and then increases with increasing altitude after that. As the target balloon moves as a result of ambient winds, the movement of the target balloon can be adjusted by increasing or decreasing its altitude. For example, altitude control can be used to achieve a desired horizontal movement of the target balloon by determining that the desired horizontal movement of the target balloon can be achieved by exposing the target balloon to ambient winds of a particular speed, determining which ambient winds from the particular speeds are likely to be available at a specific height (this determination can be made based on predictive models and / or actual wind measurements in the vicinity of the target balloon), and adjust the altitude of the target balloon to reach the particular altitude.
[0127] [127] The altitude adjustment approach can be used on any balloon that is configured for altitude control. For example, as discussed above, a balloon can include a variable flotation system that can alter the volume and / or density of the gas within the balloon's casing. However, the altitude adjustment approach generally depends on the ambient winds to load the target balloon in the desired direction. Other approaches can be used to move the target balloon in a direction that is different from that of ambient winds.
[0128] [128] For example, the target balloon may include an airfoil, such as a kite, wing, or sail, which can be adjusted to control the direction of movement of the target balloon. In particular, the airfoil can be operated to move the target balloon horizontally using ambient winds, but in a direction that can be controllable (for at least some extent) by properly adjusting the airfoil.
[0129] [129] Alternatively, the airfoil may be of a type that is operable to convert the vertical movement of the target balloon (vertical movement can be generated by altering the buoyancy of the target balloon) to horizontal movement of the target balloon. This type of airfoil can be used to achieve the desired movement of the target balloon without depending on ambient winds. This approach can be thought of as using the airfoil to convert lift into buoyancy, which is essentially the opposite of how a conventional plane works (the wings of a conventional plane convert lift into lift).
[0130] [130] In some modalities, the target balloon can be configured for flight. For example, the target balloon may include a propeller, jet, or other propulsion mechanism. These propulsion mechanisms can be used to obtain the desired movement of the target balloon instead of or in addition to the use of ambient winds. Because of the energy they consume, such propulsion mechanisms can be used as a reserve, for example, when the available ambient winds are insufficient to provide the desired movement. 5. EXAMPLE METHODS FOR CONTROLLING A TARGET BALLOON BASED ON THE RELATIVE LOCATIONS OF NEIGHBORING BALLOONS
[0131] [131] Figure 6 is a flow chart illustrating an example method 600 for controlling a target balloon based on the relative locations of neighboring balloons. Method 600 can be performed using any of the devices shown in Figures 1-5 and described above. However, other configurations could be used. In addition, the steps shown in Figure 6 for method 600 are for a particular embodiment. In other embodiments, steps can appear differently and steps can be added or subtracted.
[0132] [132] Step 602 involves determining the location of a target balloon. The target balloon can be any balloon whose movement can be controlled, for example, in order to achieve a desired network topology in a network balloon. For purposes of illustration, this example assumes that the target balloon network is in a high altitude balloon network that functions as a mesh network. However, other types of balloon nets are possible.
[0133] [133] The target balloon can be configured as shown in Figure 3, or it can be configured differently. The location of the target balloon can be determined using GPS, inertial navigation data, star tracking, radar, or any other method. The location of the target balloon can be determined by a positioning system inside the target balloon, such as the positioning system 324 shown in Figure 3. Alternatively, the location of the target balloon can be determined externally, for example, by another balloon , by a ground station, or by some other entity.
[0134] [134] Step 604 involves determining locations of one or more neighboring balloons in relation to the location of the determined target balloon. The target balloon includes a communication system that is operable for communicating data with at least one of the one or more neighboring balloons. The communication system can, for example, use a free space optical link or an RF link for data communication.
[0135] [135] The one or more neighboring balloons can be identified in several ways. In some embodiments, a predetermined number of balloons in the mesh network that are closest neighbors to the target balloon can be identified as one or more neighboring balloons. In other embodiments, any balloons in the mesh network that are within a predefined distance between the target balloon can be identified as one or more neighboring balloons. The predefined distance could, for example, correspond to a communication interval of the target balloon communication system. Other ways of defining which balloons in the mesh network are balloons next to the target balloon are also possible.
[0136] [136] The locations of one or more neighboring balloons could be determined using GPS, inertial navigation data, star tracking, radar, or by any other method. The locations of neighboring balloons can be determined by the neighboring balloons themselves, and this location information can be transmitted to the target balloon, to an earth station, or to some other entity. Alternatively, the locations of one or more neighboring balloons can be determined by the target balloon or by an earth station. Other methods for determining the location of one or more neighboring balloons are also possible.
[0137] [137] Step 606 involves determining a desired movement of the target balloon based on the determined locations of the one or more neighboring balloons in relation to the determined location of the target balloon. The desired movement of the target balloon can be a desired displacement of the target balloon (such as displacement to a particular location or displacement in a particular direction for a certain distance or travel duration), a desired velocity of the target balloon (the desired speed can be in relation to the ground, in relation to the air, or in relation to another balloon), a desired change in the speed of the target balloon (either an increase or decrease in the current speed of the target balloon and / or a change in the current direction of movement of the target balloon), a desired acceleration of the target balloon, or any other type of movement of the target balloon.
[0138] [138] This desired movement can be determined based on a potential energy function, as described above. Thus, a function of the potential energy can be defined to assign a potential energy to the target balloon as a function of the determined location of one or more neighboring balloons and the determined location of the target balloon. A gradient of the potential energy function can be determined, and the desired movement of the target balloon can be determined based on the gradient of the potential energy function. In particular, the direction of the desired movement can be based on the direction of the gradient and the magnitude of the desired movement can be based on the magnitude of the gradient.
[0139] [139] Step 608 involves controlling the target balloon based on the desired movement of the target balloon. In some modalities, the target balloon can control itself autonomously to achieve the desired movement, using the data that the target balloon itself receives or through its communication system. In other modalities, the target balloon can be controlled remotely by another balloon, by an earth station, or by some other entity.
[0140] [140] In some embodiments, the desired movement of the target balloon may include a desired horizontal movement (that is, a movement that is generally parallel to the ground). The desired horizontal movement of the target balloon can be achieved in several ways.
[0141] [141] In one approach, the altitude of the target balloon can be controlled in order to achieve the desired horizontal movement of the target balloon. This approach makes use of the variation in wind speed with altitude that is typical in the stratosphere. For example, the buoyancy of the target balloon can be adjusted to reach a particular altitude where ambient shapes can be expected to produce the desired horizontal movement of the target balloon. In some modalities, the target balloon can use its own predictive models and / or real data in relation to wind speed. Alternatively, the target balloon can receive wind data or wind forecasts from other balloons, ground stations, and / or other entities.
[0142] [142] In another approach, the target balloon can include an airfoil, such as a kite, kite, or sail, which can use ambient winds to achieve the desired horizontal movement of the target balloon. For example, the airfoil can be controlled to achieve a desired direction of movement.
[0143] [143] In yet another approach, the target balloon can include an airfoil, which is operable to convert the vertical movement of the target balloon to the desired horizontal movement of the target balloon. The vertical movement of the target balloon can be generated by altering the buoyancy of the target balloon.
[0144] [144] In yet another approach, the target balloon may include a propulsion mechanism, such as a propeller or jet. The target balloon can control the propulsion mechanism in order to achieve the desired horizontal movement.
[0145] [145] It should be understood that method 600 shown in Figure 6 can be performed repeatedly in order to adjust the position of the target balloon based on varying conditions. In some embodiments, method 600 may be performed periodically, for example, every second, minute or hour. In other embodiments, method 600 can be executed in response to a trigger event. For example, the target balloon may execute the method in response to receiving an instruction from another balloon, ground station, or some other entity.
[0146] [146] It should also be understood that method 600 shown in Figure 6 can be performed in order to adjust the positions of the various balloons in a balloon network. The method can be performed for each balloon independently. Alternatively, a central controller, which can be in a balloon or an earth station, can execute the method for multiple balloons in a cooperative way. Either way, the positions of the balloons in a balloon network can be adjusted relative to each other in order to maintain a desired network topology. 6. Non-transitory computer-readable medium
[0147] [147] Some or all of the functions described and illustrated in Figures 1-6 can be performed by a computing device in response to the execution of instructions stored in a non-transitory computer-readable medium. The non-transitory computer-readable medium could be, for example, a random access memory (RAM), a read-only memory (ROM), a flash memory, a cache memory, one or more magnetically encoded disks, one or more disks optically encrypted, or any other form of non-transitory data storage. The non-transitory computer-readable medium can also be distributed among several data storage elements, which can be located remotely from each other. The computing device that executes the stored instructions can be a balloon computing device, such as a computing device that corresponds to the processor 312 shown in Figure 3. Alternatively, the computer device that executes the stored instructions may be in another entity, such as an earth station. CONCLUSION
[0148] [148] The previous detailed description describes various characteristics and functions of the systems, devices and methods described, with reference to the attached figures. Although various aspects and modalities have been disclosed here, other aspects and modalities will be evident to those skilled in the art. The various aspects and modalities described here are for purposes of illustration and are not intended to be limiting, the true scope and spirit being indicated by the following claims.

权利要求:
Claims (24)
[0001]
Method characterized by the fact that it comprises: determine a target balloon location; determine locations of one or more neighboring balloons with respect to the determined location of the target balloon, wherein the target balloon comprises a communication system that is operable for communicating data with at least one of the one or more neighboring balloons; determining a desired movement of the target balloon based on the determined locations of the one or more neighboring balloons relative to the determined location of the target balloon in which the desired movement of the target balloon comprises a desired horizontal movement of the target balloon; and controlling the target balloon based on the desired movement of the target balloon, wherein controlling the target balloon based on the desired movement of the target balloon comprises controlling an altitude of the target balloon based on the desired horizontal movement of the target balloon.
[0002]
Method according to claim 1, characterized by the fact that controlling the altitude of the target balloon based on the desired horizontal movement of the target balloon comprises: determining that the desired horizontal movement of the target balloon can be achieved by exposing the target balloon to ambient winds of a particular speed; determining which ambient winds of the particular speed are likely to be available at a particular altitude; and adjust the altitude of the target balloon to reach the particular height
[0003]
Method according to claim 1, characterized by the fact that the target balloon and one or more neighboring balloons are high altitude balloons.
[0004]
Method according to claim 1, characterized in that the desired movement of the target balloon comprises a desired direction of movement.
[0005]
Method according to claim 1, characterized in that the desired movement of the target balloon comprises a desired speed.
[0006]
Method according to claim 1, characterized in that the desired movement of the target balloon comprises a desired movement distance in a desired direction.
[0007]
Method, according to claim 1, characterized by the fact that the communication system comprises a free space optical communication system.
[0008]
Method, according to claim 1, characterized by the fact that the communication system comprises a radio frequency (RF) communication system.
[0009]
Method according to claim 1, characterized by the fact that the target balloon and one or more neighboring balloons are part of a balloon mesh network.
[0010]
Method, according to claim 9, characterized by the fact that it still comprises identifying a predetermined number of balloons closer to the mesh network as the one or more neighboring balloons.
[0011]
Method according to claim 9, characterized in that it further comprises identifying any balloons in the mesh network that are within a predefined distance from the target balloon as the one or more neighboring balloons.
[0012]
Method according to claim 9, characterized in that it further comprises identifying any balloons in the mesh network that are within a communication range of the target balloon's communication system as the one or more neighboring balloons.
[0013]
Method according to claim 1, characterized in that determining a desired movement of the target balloon based on the determined locations of one or more neighboring balloons in relation to the determined location of the target balloon comprises: defining a potential energy function that assigns a potential energy to the target balloon as a function of the determined locations of the one or more neighboring balloons and the determined location of the target balloon; determine a gradient of potential energy function; and determine the desired movement of the target balloon based on the gradient of the potential energy function.
[0014]
Method according to claim 13, characterized in that determining the desired movement of the target balloon based on the gradient comprises: determining a direction of the gradient; and determining a direction of the desired movement of the target balloon based on the direction of the gradient.
[0015]
Method according to claim 13, characterized in that determining the desired movement of the target balloon based on the gradient comprises: determining a magnitude of the gradient; and determining a magnitude of the desired movement of the target balloon based on the magnitude of the gradient.
[0016]
Method according to claim 1, characterized by the fact that the target balloon comprises an airfoil.
[0017]
Method according to claim 16, characterized by the fact that the airfoil comprises a kite, kite, or sail.
[0018]
Method according to claim 16, characterized in that controlling the target balloon based on the desired movement of the target balloon comprises controlling the airfoil.
[0019]
Method according to claim 16, characterized by the fact that the airfoil is operable to move the target balloon horizontally using ambient winds.
[0020]
Method according to claim 16, characterized in that the airfoil is operable to convert vertical movement of the target balloon into horizontal movement of the target balloon, and in which controlling the target balloon based on the desired movement of the target balloon comprises controlling a buoyancy of the target balloon.
[0021]
Balloon, characterized by the fact that it comprises: an operable communication system for communication of data with one or more other balloons in a balloon mesh network; and a controller coupled to the communication system, where the controller is configured to: (a) determine the location of the balloon; (b) determining the location of one or more neighboring balloons in relation to the determined location of the balloon, where the one or more neighboring balloons are in the balloon mesh network; and (c) determining a desired movement of the balloon based on the determined locations of the one or more neighboring balloons relative to the determined location of the balloon, wherein the desired movement of the balloon comprises a desired horizontal movement of the balloon; and (d) control a balloon altitude based on the desired horizontal movement.
[0022]
Balloon, according to claim 21, characterized by the fact that it further comprises: an altitude control system that is operable to adjust the altitude of the balloon, in which the controller is configured to control the altitude control system based on the desired horizontal movement of the balloon.
[0023]
Balloon, according to claim 21, characterized by the fact that the controller is configured to determine the location of the balloon through a satellite positioning system.
[0024]
Balloon, according to claim 21, characterized by the fact that the controller is configured to determine the location of one or more neighbor balloons based on the information received through the communication system.

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同族专利:

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公开号 | 公开日

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CA2859470C|2017-01-31|

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EP2802953B8|2019-06-19|

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CA2859470A1|2013-07-18|

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EP2802953A4|2016-07-06|

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AU2013208213A1|2014-07-03|

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BR112014016925A8|2017-07-04|

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BR112014016925A2|2017-06-13|

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US20140319270A1|2014-10-30|

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US20130175391A1|2013-07-11|

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AU2013208213B2|2015-04-09|

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BR112014016925B8|2021-07-20|

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EP2802953A1|2014-11-19|

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WO2013106279A1|2013-07-18|

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CN104160350B|2017-03-15|

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CN104160350A|2014-11-19|

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EP2802953B1|2018-10-03|

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US8820678B2|2014-09-02|

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US20140319271A1|2014-10-30|

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AU2013208213C1|2018-06-14|

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法律状态:
2018-01-30| B25D| Requested change of name of applicant approved|Owner name: GOOGLE LLC (US) |

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2018-04-17| B25A| Requested transfer of rights approved|Owner name: X DEVELOPMENT LLC (US) |

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2018-12-04| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|

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2019-11-05| B25A| Requested transfer of rights approved|Owner name: LOON LLC (US) |

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2020-02-27| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|

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2020-07-07| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|

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2020-09-08| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 07/01/2013, OBSERVADAS AS CONDICOES LEGAIS. |

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2021-02-23| B09W| Decision of grant: rectification|Free format text: RETIFIQUE-SE, POR INCORRECAO NO TITULO |

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2021-07-20| B16C| Correction of notification of the grant|Free format text: REF. RPI 2592 DE 08/09/2020 QUANTO AO TITULO. |

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