초록 ▼

An example can include a pod detachably coupled to a hull. At least one thrust generator can be fixed to the pod. A power source can be mounted to the pod and slideable fore and aft. A power source actuator can be coupled between the pod and the power source to translate the location of the power so

An example can include a pod detachably coupled to a hull. At least one thrust generator can be fixed to the pod. A power source can be mounted to the pod and slideable fore and aft. A power source actuator can be coupled between the pod and the power source to translate the location of the power source with respect to the pod. A sensor can be coupled to the pod to detect a pitch of the hull and provide a pitch signal. A controller can be coupled to one or more of the power source, the power source actuator, the first and second thrust generators and the sensor. The controller can maintain a pitch of the hull by translating the power source within the pod in association with the pitch signal.

대표청구항 ▼

1. A balloon system comprising: a balloon configured to contain a gas of a lower density than an ambient gas, the balloon including a main body and a fixed airfoil; anda pod detachably coupled to the balloon, the pod comprising: a first thrust generator fixed to the pod and located a fixed distance

1. A balloon system comprising: a balloon configured to contain a gas of a lower density than an ambient gas, the balloon including a main body and a fixed airfoil; anda pod detachably coupled to the balloon, the pod comprising: a first thrust generator fixed to the pod and located a fixed distance left of a center of the balloon;a second thrust generator fixed to the pod and located the same fixed distance right of the center of the balloon, wherein a thrust of the first thrust generator is substantially parallel with a thrust of the second thrust generator;a power source mounted to the pod and movable fore and aft with respect to a body of the pod, the power source coupled to each of the first thrust generator and the second thrust generator to power each of the first thrust generator and the second thrust generator;a power source actuator coupled between the pod and the power source to adjust a location of the power source with respect to the body of the pod;a sensor coupled to the pod, the sensor configured to detect a position of the pod and to provide a direction control signal; anda controller coupled to the power source, the power source actuator, the first and second thrust generators, and the sensor, the controller configured to attain or maintain a specified position of the balloon by adjusting the location of the power source with respect to the pod body according to the direction control signal. 2. A system comprising: a buoyant hull configured to contain a gas of a lower density than an ambient gas; anda pod detachably coupled to the buoyant hull, the pod comprising: at least one thrust generator coupled to the pod;a movable mass coupled to the pod and movable fore and aft with respect to a body of the pod;a mass actuator coupled between the pod and the movable mass to move the movable mass with respect to the body of the pod;a sensor coupled to the pod to detect an orientation change of the pod and to provide an orientation signal based on the detected change; anda controller coupled to the mass actuator, the at least one thrust generator, and the sensor, the controller configured to operate the mass actuator, based on the orientation signal, to move the movable mass to attain or maintain a specified orientation of the hull; wherein the buoyant hull includes a fixed stabilizer. 3. The system of claim 2, wherein the buoyant hull includes a free balloon. 4. The system of claim 2, wherein the fixed stabilizer includes at least one airfoil. 5. The system of claim 4, wherein the at least one airfoil is fixed with respect to the free balloon. 6. The system of claim 2, wherein the movable mass comprises a power source that is coupled to the at least one thrust generator to power the at least one thrust generator, wherein the mass actuator is configured to translate the location of the power source with respect to the body of the pod, and wherein the controller is coupled to the power source. 7. The system of claim 2, wherein the sensor is a pitch sensor configured to detect a change in a pitch of the pod and to provide a pitch signal based on the detected pitch change, and wherein the controller is configured to operate the mass actuator based on the pitch signal. 8. The system of claim 2, wherein the sensor is a yaw sensor configured to detect a change in a yaw of the pod and to provide a yaw signal based on the detected yaw change, and wherein the controller is configured to operate the mass actuator based on the yaw signal. 9. The system of claim 8, further comprising a pitch sensor configured to detect a change in a pitch of the pod and to provide a pitch signal based on the detected pitch change, and wherein the controller is configured to operate the mass actuator based on the pitch signal and the yaw signal. 10. The system of claim 2, wherein the buoyant hull includes a free balloon, and wherein the sensor includes at least one of a pitch sensor configured to detect a change in a pitch of the pod and a yaw sensor configured to detect a change in a yaw of the pod. 11. The system of claim 10, wherein the at least one thrust generator includes first and second thrust generators coupled to the pod, wherein the first thrust generator is located a fixed distance left of a center of the hull and aligned to pitch the hull, and the second thrust generator is located a fixed distance right of a center of the hull and aligned to pitch the hull, wherein a thrust of the first thrust generator is substantially parallel with a thrust of the second thrust generator; and wherein the controller is coupled to the second thrust generator and is configured to operate the first and second thrust generators and the mass actuator to attain or maintain a specified orientation of the hull. 12. The system of claim 11, wherein the controller is configured to operate at least one of the first and second thrust generators to apply a yaw moment to the hull by differentiating a thrust of the first thrust generator and the second thrust generator. 13. The system of claim 2, further comprising an autopilot circuit coupled to the controller and configured to identify a difference between a course of the hull and one or more waypoints stored in the autopilot circuit. 14. The system of claim 2, wherein the pod includes a parachute that is configured to deploy after the pod detaches from the hull. 15. The system of claim 2, wherein an outer surface of the hull is free of thrust generators or movable control surfaces. 16. An apparatus comprising: a pod configured to detachably couple with a buoyant hull, wherein the pod includes a parachute that is configured to deploy after the pod detaches from the buoyant hull;at least one thrust generator coupled to the pod and configured to adjust a yaw characteristic of a buoyant hull that includes the pod;a movable mass that is coupled to the pod and is movable with respect to a body of the pod;a mass actuator coupled between the pod and the movable mass, the mass actuator configured to translate the movable mass with respect to the body of the pod;a first sensor coupled to the pod and configured to detect an orientation change of the pod and to provide an orientation signal based on the detected change; anda controller coupled to the mass actuator, the at least one thrust generator, and the sensor, the controller configured to operate the mass actuator, based on the orientation signal, to translate the movable mass to attain or maintain a specified orientation of the pod. 17. The apparatus of claim 16, wherein the movable mass comprises a power source that is coupled to the at least one thrust generator to power the at least one thrust generator, wherein the mass actuator is configured to translate the location of the power source with respect to the body of the pod, and wherein the controller is coupled to the power source. 18. The apparatus of claim 16, wherein the first sensor is configured to provide the orientation signal based on a detected change in pitch and/or yaw of the pod, and wherein the controller is configured to operate the mass actuator based on the orientation signal that includes information about the detected change in pitch and/or yaw. 19. The apparatus of claim 16, wherein the at least one thrust generator includes first and second thrust generators coupled to the pod, wherein the first thrust generator is located a fixed distance left of a center of the pod, and the second thrust generator is located a fixed distance right of a center of the pod, wherein a thrust of the first thrust generator is substantially parallel with a thrust of the second thrust generator; and wherein the controller is coupled to the second thrust generator and is configured to operate the first and second thrust generators and the mass actuator to attain or maintain a specified orientation of the pod. 20. The apparatus of claim 16, further comprising an autopilot circuit coupled to the controller and configured to communicate information about a difference between a specified course of the pod and one or more waypoints. 21. The apparatus of claim 16, wherein the movable mass is movable between at least first and second positions with respect to the body of the pod, wherein: in the first position, the movable mass pitches the pod upward when the pod is attached to the buoyant hull, and the pod and the buoyant hull are in flight, andin the second position, the movable mass pitches the pod downward when the pod is attached to the buoyant hull, and the pod and the buoyant hull are in flight.