Establishing optical-communication lock with nearby balloon

专利摘要:
A balloon may include an optical-communication component, which may have a pointing axis. A pointing mechanism could be configured to adjust the pointing axis. The optical-communication component could be operable to communicate with a correspondent balloon via a free-space optical link. For example, the optical-communication component could include an optical receiver, transmitter, or transceiver. A positioning system could be configured to acquire a first location, which could be based on the location of the balloon. A controller could be configured to acquire a second location, which could be based on a location of the correspondent balloon. The controller may determine an approximate target axis based on the first location and the second location. The controller may control the pointing axis of the optical-communication component within a scanning range based on the approximate target axis to establish the free-space optical link with the correspondent balloon.
公开号:AU2013208215A1
申请号:U2013208215
申请日:2013-01-07
公开日:2014-07-03
发明作者:Clifford L. Biffle；Richard Wayne Devaul；Eric Teller；Josh Weaver
申请人:Google LLC；
IPC主号:H04B10-11

专利说明:
WO 2013/106281 PCT/US2013/020536 Establishing Optical-Communication Lock with Nearby Balloon BACKGROUND 5 [0001] Unless otherwise indicated herein, the materials described in this section are not prior art to the claims in this application and are not admitted to be prior art by inclusion in this section. [0002] Computing devices such as personal computers, laptop computers, tablet computers, cellular phones, and countless types of Internet-capable devices are increasingly 10 prevalent in numerous aspects of modern life. As such, the demand for data connectivity via the Internet, cellular data networks, and other such networks, is growing. However, there are many areas of the world where data connectivity is still unavailable, or if available, is unreliable and/or costly. Accordingly, additional network infrastructure is desirable. - I - WO 2013/106281 PCT/US2013/020536 SUMMARY [00031 In a first aspect, a balloon is provided. The balloon includes an optical communication component. The optical-communication component has a pointing axis. The 5 optical-comnunication component is operable to communicate with a correspondent balloon via a free-space optical link. The optical-communication component also includes a pointing mechanism configured to adjust the pointing axis and a positioning system configured to acquire a first location. The first location is based on a location of the balloon. The optical communication component further includes a controller. The controller is configured to 10 acquire a second location. The second location is based on a location of the correspondent balloon. The controller is further configured to determine an approximate target axis based on the first location and the second location. The controller is additionally configured to control the pointing mechanism to adjust the pointing axis within a scanning range based on the approximate target axis, to establish the free-space optical link with the correspondent 15 balloon. [00041 In a second aspect, a method is provided. The method includes determining a location of a first balloon and determining a location of a second balloon. The method additionally includes determining an approximate target axis based on the location of the second balloon relative to the location of the first balloon. The method also includes 20 controlling a pointing mechanism to adjust a pointing axis of an optical-communication component in the first balloon within a scanning range based on the approximate target axis, to establish a free-space optical link with the second balloon. [00051 In a third aspect, a non-transitory computer readable medium having stored instructions is provided. The instructions are executable by a computing device to cause the 25 computing device to perform functions. The functions include: (i) determining a location of a first balloon, (ii) determining a location of a second balloon, (iii) determining an approximate -2- WO 2013/106281 PCT/US2013/020536 target axis based on the location of the second balloon relative to the location of the first balloon, and (iv) controlling a pointing mechanism to adjust a pointing axis of an optical communication component in the first balloon within a scanning range based on the approximate target axis, to establish a free-space optical link with the second balloon. 5 [00061 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 to the accompanying drawings. -3 - WO 2013/106281 PCT/US2013/020536 BRIEF DESCRIPTION OF THE DRAWINGS [00071 Figure 1 is a simplified block diagram illustrating a balloon network, according to an example embodiment. 5 [00081 Figure 2 is a block diagram illustrating a balloon-network control system, according to an example embodiment. [00091 Figure 3 is a simplified block diagram illustrating a high-altitude balloon, according to an example embodiment. [00101 Figure 4 shows a balloon network that includes super-nodes and sub-nodes, 10 according to an example embodiment. [00111 Figure 5 is a simplified block diagram illustrating an optical transmitter and an optical receiver, according to an example embodiment. [00121 Figure 6 shows a balloon searching scenario, according to an example embodiment. 15 [00131 Figure 7 is a method, according to an example embodiment. -4- WO 2013/106281 PCT/US2013/020536 DETAILED DESCRIPTION [0014] Example methods and systems are described herein. Any example embodiment or feature described herein is not necessarily to be construed as preferred or 5 advantageous over other embodiments or features. The example embodiments described herein are not meant to be limiting. It will be readily understood that certain aspects of the disclosed systems and methods can be arranged and combined in a wide variety of different configurations, all of which are contemplated herein. [0015] Furthermore, the particular arrangements shown in the Figures should not be 10 viewed as limiting. It should be understood that other embodiments may include more or less of each element shown in a given Figure. Further, some of the illustrated elements may be combined or omitted. Yet further, an example embodiment may include eleinents that are not illustrated in the Figures. 15 1. Overview [0016] Example embodiments help to provide a data network that includes a plurality of balloons; for example, a mesh network formed by high-altitude balloons deployed in the stratosphere. Since winds in the stratosphere may affect the locations of the balloons in a differential manner, each balloon in an example network may be configured to change its 20 horizontal position by adjusting its vertical position (i.e., altitude). For instance, by adjusting its altitude, a balloon may be able find winds that will carry it horizontally (e.g., latitudinally and/or longitudinally) to a desired horizontal location. [0017] Further, in an example balloon network, the balloons may communicate with one another using free-space optical communications. For instance, the balloons may be 25 configured for optical communications using ultra-bright LEDs (which are also referred to as "high-power" or "high-output" LEDs). In some instances, lasers could be used instead of or -5 - WO 2013/106281 PCT/US2013/020536 in addition to LEDs, although regulations for laser communications may restrict laser usage. In addition, the balloons may communicate with ground-based stations) using radio frequency (RF) communications. [0018] In some embodiments, a high-altitude-balloon network may be homogenous. 5 That is, the balloons in a high-altitude-balloon network could be substantially similar to each other in one or more ways. More specifically, in a homogenous high-altitude-balloon network, each balloon is configured to communicate with one or more other balloons via free-space optical links. Further, some or all of the balloons in such a network, may additionally be configured to communicate with ground-based and/or satellite-based 10 station(s) using RF and/or optical communications. Thus, in some embodiments, the balloons may be homogenous in so far as each balloon is configured for free-space optical communication with other balloons, but heterogeneous with regard to RF communications with ground-based stations. [0019] In other embodiments, a high-altitude-balloon network may be heterogeneous, 15 and thus may include two or more different types of balloons. For example, some balloons in a heterogeneous network may be configured as super-nodes, while other balloons may be configured as sub-nodes. It is also possible that some balloons in a heterogeneous network may be configured to function as both a super-node and a sub-node. Such balloons may function as either a super-node or a sub-node at a particular time, or, alternatively, act as both 20 simultaneously depending on the context. For instance, an example balloon could aggregate search requests of a first type to transmit to a ground-based station. The example balloon could also send search requests of a second type to another balloon, which could act as a super-node in that context. Further, some balloons, which may be super-nodes in an example embodiment, can be configured to communicate via optical links with ground-based stations 25 and/or satellites. -6- WO 2013/106281 PCT/US2013/020536 [00201 In an example configuration, the super-node balloons may be configured to communicate with nearby super-node balloons via free-space optical links. However, the sub-node balloons may not be configured for free-space optical communication, and may instead be configured for sone other type of communication, such as RF communications. In 5 that case, a super-node may be further configured to communicate with sub-nodes using RF communications. Thus, the sub-nodes may relay communications between the super-nodes and one or more ground-based stations using RF communications. In this way, the super nodes may collectively function as backhaul for the balloon network, while the sub-nodes function to relay communications from the super-nodes to ground-based stations. 10 [00211 The present disclosure describes various example embodiments of apparatuses, methods, and functions executable by a computer-readable medium that are generally operable to establish an optical communications link between a first balloon and a second balloon based on received location data. [00221 In one example embodiment, a balloon includes an optical-communication 15 component with a pointing axis. The optical-communication component could include an optical receiver, an optical transmitter, and/or an optical transceiver. The pointing axis can be adjusted in order to establish a free-space optical link with a correspondent balloon. [0023] For example, the balloon could include a pointing inechanisrn configured to adjust the pointing axis of the optical-communication component. Further, the balloon could 20 include a positioning system configured to acquire a first location, which could relate to the location of the balloon itself. Additionally, the balloon could include a controller. The controller could be configured to acquire a second location, which could relate to a location of the correspondent balloon. The controller could be also configured to determine an approximate target axis based on the first and the second locations. The controller may also 25 control the pointing mechanism to adjust the pointing axis within a scanning range based on -7- WO 2013/106281 PCT/US2013/020536 the approximate target axis, until the free-space optical link with the correspondent balloon is successfully established. 2. Example Balloon Netorks 5 [00241 Figure I is a simplified block diagram illustrating a balloon network 100, according to an example embodiment. As shown, balloon network 100 includes balloons 102A to 102F, which are configured to communicate with one another via free-space optical links 104. Balloons 102A to 102F could additionally or alternatively be configured to connunicate with one another via RF links 114. Balloons 102A to 102F may collectively 10 function as a mesh network for packet-data communications. Further, at least some of balloons 102A and 102B may be configured for RF communications with ground-based stations 106 and 112 via respective RF links 108. Further, some balloons, such as balloon 102F could be configured to communicate via optical link 110 with ground-based station 112. [00251 In an example embodiment, balloons 102A to 102F are high-altitude balloons, 15 which are deployed in the stratosphere. At moderate latitudes, the stratosphere includes altitudes between approximately 10 kilometers (kin) and 50 kn altitude above the surface. At the poles, the stratosphere starts at an altitude of approximately 8 km. In an example embodiment, high-altitude balloons may be generally configured to operate in an altitude range within the stratosphere that has lower winds (e.g., between 5 and 20 miles per hour 20 (mph)). [00261 More specifically, in a high-altitude-balloon network, balloons 102A to 102F may generally be configured to operate at altitudes between 18 km and 25 km (although other altitudes are possible). This altitude range may be advantageous for several reasons. In particular, this layer of the stratosphere generally has relatively low wind speeds (e.g., winds 25 between 5 and 20 mph) and relatively little turbulence. Further, while the winds between 18 -8 - WO 2013/106281 PCT/US2013/020536 kin and 25 km may vary with latitude and by season, the variations can be modeled in a reasonably accurate manner. Additionally, 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 ktn. 5 [00271 To transmit data to another balloon, a given balloon 102A to 102F may be configured to transmit an optical signal via an optical link 104. In an example embodiment, a given balloon 102A to 102F may use one or more high-power light-emitting diodes (LEDs) to transmit an optical signal. Alternatively, some or all of balloons 102A to I 02F may include laser systems for f-e-space optical communications over optical links 104. Other 10 types of free-space optical communication are possible. Further, in order to receive an optical signal from another balloon via 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. [00281 In a further aspect, balloons 102A to 102F may utilize one or more of various 15 different RF air-interface protocols for communication with ground-based stations 106 and 112 via respective RF links 108. For instance, some or all of balloons 102A to 102F may be configured to communicate with ground-based stations 106 and 112 using protocols described in IEEE 802.11 (including any of the IEEE 802.11 revisions), various cellular protocols such as GSM, CDMA, UMTS, EV-DO, WiMAX, and/or LTE, and/or one or more 20 propriety protocols developed for balloon -ground RF communication, among other possibilities. [00291 In a further aspect, there may be scenarios where R-F links 108 do not provide a desired link capacity for balloon-to-ground communications. For instance, increased capacity tnay be desirable to provide backhaul links from a ground-based gateway, and in -9- WO 2013/106281 PCT/US2013/020536 other scenarios as well. Accordingly, an example network may also include downlink balloons, which could provide a high-capacity air-ground link. [0030] For example, in balloon network 100, balloon 102F is configured as a downlink balloon. Like other balloons in an example network, a downlink balloon 102F may 5 be operable for optical communication with other balloons via optical links 104. However, a downlink balloon 102F may also be configured for free-space optical communication with a ground-based station 112 via an optical link 110. Optical link 110 may therefore serve as a high-capacity link (as compared to an RF link 108) between the balloon network 100 and the ground-based station 112. 10 [0031] Note that in some implementations, a downlink balloon 102F may additionally be operable for RF communication with ground-based stations 106. In other cases, a downlink balloon 102F may only use an optical link for balloon-to-ground communications. Further, while the arrangement shown in Figure 1 includes just one downlink balloon 102F, an example balloon network can also include multiple downlink balloons. On the other hand, 15 a balloon network can also be implemented without any downlink balloons. [00321 In other implementations, a downlink balloon may be equipped with a specialized. high-bandwidth RF communication system for balloon-to-ground communications, instead of, or in addition to, a free-space optical communication system. The high-bandwidth RF communication system may take the form of an ultra-wideband 20 system, which may provide an RF link with substantially the same capacity as one of the optical links 104. Other forms are also possible. [00331 Ground-based stations, such as ground-based stations 106 and/or 112, may take various forms. Generally, a ground-based station may include components such as transceivers, transmitters, andlor receivers for communication via RF links and/or optical 25 links with a balloon network. Further, a ground-based station may use various air-interface - 10 - WO 2013/106281 PCT/US2013/020536 protocols in order to communicate with a balloon 102A to 102F over an RF link 108. As such, ground-based stations 106 and 112 may be configured as an access point via which various devices can connect to balloon network 100. Ground--based stations 106 and 112 may have other configurations and/or serve other purposes without departing from the scope 5 of the invention. [00341 In a further aspect, some or all of balloons 102A to 102F could be configured to establish a communication link with space--based satellites in addition to, or as an alternative to, a ground-based communication link, In some embodiments, a balloon may connunicate with a satellite via an optical link. However, other types of satellite 10 communications are possible. [00351 Further, some ground-based stations, such as ground-based stations 106 and 112, may be configured as gateways between balloon network 100 and one or more other networks. Such ground-based stations 106 and 112 may thus serve as an interface between the balloon network and the Internet, a cellular service provider's network, and/or other types 15 of networks. Variations on this configuration and other configurations of ground-based stations 106 and 112 are also possible. 2a) Mesh Network Functionality [00361 As noted, balloons 102A to 102F may collectively function as a mesh network. More specifically, since balloons 102A to 102F may communicate with one 20 another using free-space optical links, the balloons may collectively function as a free-space optical mesh network. [00371 In a mesh-network configuration, each balloon I 02A to 102F may function as a node of the mesh network, which is operable to receive data directed to it and to route data to other balloons. As such, data may be routed from a source balloon to a destination balloon 25 by determining an appropriate sequence of optical links between the source balloon and the - 11 - WO 2013/106281 PCT/US2013/020536 destination balloon. These optical links may be collectively referred to as a "lightpath" for the connection between the source and destination balloons. Further, each of the optical links may be referred to as a "hop" on the lightpath. [0038] To operate as a mesh network, balloons 102A to 102F may employ various 5 routing techniques and self-healing algorithms. In some embodiments, a balloon network 100 may employ adaptive or dynamic routing, where a lightpath between a source and destination balloon is determined and set-up when the connection is needed., and released at a later time. Further, when adaptive routing is used, the lightpath may be determined dynamically depending upon the current state, past state, andior predicted state of the balloon 10 network. [0039] In addition, the network topology may change as the balloons 102A to 102F move relative to one another and/or relative to the ground. Accordingly, an example balloon network 100 may apply a mesh protocol to update the state of the network as the topology of the network changes. For example, to address the mobility of the balloons 102A to 102F, 15 balloon network 100 may employ and/or adapt various techniques that are employed in mobile ad hoc networks (MANETs). Other examples are possible as well. [0040] In some implementations, a balloon network 100 may be configured as a transparent mesh network. More specifically, in a transparent balloon network, the balloons may include components for physical switching that is entirely optical, without any electrical 20 components involved in the physical routing of optical signals. Thus, in a transparent configuration with optical switching signals travel through a multi-hop lightpath that is entirely optical. [0041] In other implementations, the balloon network 100 may implement a free space optical mesh network that is opaque. In an opaque configuration, some or all balloons 25 102A to 102F mnay implement optical-electrical-optical (OEO) switching. For example, some - 12 - WO 2013/106281 PCT/US2013/020536 or all balloons may include optical cross-connects (OXCs) for OEO conversion of optical signals. Other opaque configurations are also possible. Additionally, network configurations are possible that include routing paths with both transparent and opaque sections. [0042] In a further aspect, balloons in an example balloon network 100 may 5 implement wavelength division multiplexing (WDM), which may help to increase link capacity. When WDM is implemented with transparent switching, physical lightpaths through the balloon network may be subject to the "wavelength continuity constraint." More specifically, because the switching in a transparent network is entirely optical, it may be necessary to assign the same wavelength for all optical links on a given lightpath. 10 [00431 An opaque configuration, on the other hand, may avoid the wavelength continuity constraint. In particular, balloons in an opaque balloon network may include the OEO switching systems operable for wavelength conversion. As a result, balloons can convert the wavelength of an optical signal at each hop along a lightpath. Alternatively, optical wavelength conversion could take place at only selected hops along the lightpath. 15 [00441 Further, various routing algorithms may be employed in an opaque configuration. For example, to determine a primary lightpath and/or one or more diverse backup lightpaths for a given connection, example balloons may apply or consider shortest path routing techniques such as Dijkstra's algorithm and k-shortest path, and/or edge and node-diverse or disjoint routing such as Suurballe's algorithm, among others. Additionally or 20 alternatively, techniques for maintaining a particular quality of service (QoS) may be employed when determining a lightpath. Other techniques are also possible. 2b) Station-Keeping Functionality [00451 In an example embodiment, a balloon network 100 may implement station keeping functions to help provide a desired network topology. For example, station-keeping 25 may involve each balloon 102A to 102F maintaining and/or moving into a certain position - 13 - WO 2013/106281 PCT/US2013/020536 relative to one or more other balloons in the network (and possibly in a certain position relative to the ground). As part of this process, each balloon 102A to 102F may implement station-keeping functions to determine its desired positioning within the desired topology, and if necessary, to determine how to move to the desired position. 5 [00461 The desired topology may vary depending upon the particular implementation. In some cases, balloons may implement station-keeping to provide a substantially uniform topology. In such cases, a given balloon 102A to 102F may implement station-keeping functions to position itself at substantially the same distance (or within a certain range of distances) from adjacent balloons in the balloon network 100. 10 [00471 In other cases, a balloon network 100 may have a non-uniform topology. For instance, example embodiments may involve topologies where balloons are distributed more or less densely in certain areas, for various reasons. As an example, to help meet the higher bandwidth demands that are typical in urban areas, balloons may be clustered more densely over urban areas. For similar reasons, the distribution of balloons may be denser over land 15 than over large bodies of water. Many other examples of non-uniform topologies are possible. [00481 In a further aspect, the topology of an example balloon network may be adaptable. In particular, station-keeping functionality of example balloons may allow the balloons to adjust their respective positioning in accordance with a change in the desired 20 topology of the network. For example, one or more balloons could move to new positions to increase or decrease the density of balloons in a given area. Other examples are possible. [00491 In some embodiments, a balloon network 100 may employ an energy function to determine if andior how balloons should move to provide a desired topology. In particular, the state of a given balloon and the states of some or all nearby balloons may be input to an 25 energy function. The energy function may apply the current states of the given balloon and - 14 - WO 2013/106281 PCT/US2013/020536 the nearby balloons to a desired network state (e.g., a state corresponding to the desired topology). A vector indicating a desired movement of the given balloon may then be determined by determining the gradient of the energy function. The given balloon may then determine appropriate actions to take in order to effectuate the desired movement. For 5 example, a balloon may determine an altitude adjustment or adjustments such that winds will move the balloon in the desired manner. 2c) Control of Balloons in a Balloon Network [0050] In some embodiments, mesh networking and/or station-keeping functions may 10 be centralized. For example, Figure 2 is a block diagram illustrating a balloon-network control system, according to an example embodiment. In particular, Figure 2 shows a distributed control system, which includes a central control system 200 and a number of regional control-systems 202A to 202B. Such a control systetn may be configured to coordinate certain functionality for balloon network 204, and as such, may be configured to 15 control and/or coordinate certain functions for balloons 206A to 2061. [00511 In the illustrated embodiment, central control system 200 may be configured to communicate with balloons 206A to 2061 via a number of regional control systems 202A to 202C. These regional control systems 202A to 202C may be configured to receive communications and/or aggregate data from balloons in the respective geographic areas that 20 they cover, and to relay the communications and/or data to central control system 200. Further, regional control systems 202A to 202C may be configured to route communications from central control system 200 to the balloons in their respective geographic areas. For instance, as shown in Figure 2, regional control system 202A may relay communications and/or data between balloons 206A to 206C and central control system 200, regional control 2.5 system 20213 may relay communications and/or data between balloons 206D to 206F and - 15- WO 2013/106281 PCT/US2013/020536 central control system 200, and regional control system 202C may relay communications and/or data between balloons 206G to 2061 and central control system 200. [00521 In order to facilitate communications between the central control system 200 and balloons 206A to 2061, certain balloons may be configured as downlink balloons, which 5 are operable to communicate with regional control systems 202A to 202C, Accordingly, each regional control system 202A to 202C may be configured to communicate with the downlink balloon or balloons in the respective geographic area it covers. For example, in the illustrated embodiment, balloons 206A, 206F, and 2061 are configured as downlink balloons. As such, regional control systems 202A to 202C may respectively communicate with 10 balloons 206A, 206F, and 2061 via optical links 206, 208, and 210, respectively. [00531 In the illustrated configuration, only some of balloons 206A to 2061 are configured as downlink balloons. The balloons 206A, 206F, and 2061 that are configured as downlink balloons may relay communications from central control system 200 to other balloons in the balloon network, such as balloons 20613 to 206E, 206G, and 2061H. However, 15 it should be understood that in some implementations, it is possible that all balloons may function as downlink balloons. Further, while Figure 2 shows multiple balloons configured as downlink balloons, it is also possible for a balloon network to include only one downlink balloon, or possibly even no downlink balloons. [00541 Note that a regional control system 202A to 202C may in fact just be a 20 particular type of ground-based station that is configured to communicate with downlink balloons (e.g., such as ground-based station 112 of Figure 1). Thus, while not shown in Figure 2, a control system may be implemented in conjunction with other types of ground based stations (e.g., access points, gateways, etc.). [00551 In a centralized control arrangement, such as that shown in Figure 2, the 25 central control system 200 (and possibly regional control systems 202A to 202C as well) may - 16- WO 2013/106281 PCT/US2013/020536 coordinate certain mesh-networking functions for balloon network 204. For example, balloons 206A to 2061 may send the central control system 200 certain state information, which the central control system 200 may utilize to determine the state of balloon network 204. The state information from a given balloon may include location data, optical-link 5 information (e.g., the identity of other balloons with which the balloon has established an optical link, the bandwidth of the link, wavelength usage and/or availability on a link, etc.), wind data collected by the balloon, and/or other types of information. Accordingly, the central control system 200 may aggregate state information from some or all of the balloons 206A to 2061 in order to determine an overall state of the network. 10 [0056] The overall state of the network may then be used to coordinate and/or facilitate certain mesh-networking functions such as determining lightpaths for connections. For example, the central control system 200 may determine a current topology based on the aggregate state information from some or all of the balloons 206A to 2061. The topology may provide a picture of the current optical links that are available in balloon network and/or 15 the wavelength availability on the links. This topology may then be sent to some or all of the balloons so that a routing technique may be employed to select appropriate lightpaths (and possibly backup lightpaths) for communications through the balloon network 204. [0057] In a further aspect, the central control system 200 (and possibly regional control systems 202A to 202C as well) may also coordinate certain station-keeping functions 20 for balloon network 204. For example, the central control system 200 may input state information that is received from balloons 206A to 2061 to an energy function, which may effectively compare the current topology of the network to a desired topology, and provide a vector indicating a direction of movement (if any) for each balloon, such that the balloons can move towards the desired topology. Further, the central control system 200 may use 25 attitudinal wind data to determine respective altitude adjustments that may be initiated to - 17- WO 2013/106281 PCT/US2013/020536 achieve the movement towards the desired topology. The central control system 200 may provide and/or support other station-keeping functions as well. [00581 Figure 2 shows a distributed arrangement that provides centralized control, with regional control systems 202A to 202C coordinating communications between a central 5 control system 200 and a balloon network 204, Such an arrangement may be useful to provide centralized control for a balloon network that covers a large geographic area. In some embodiments, a distributed arrangement may even support a global balloon network that provides coverage everywhere on earth. Of course, a distributed-control arrangement may be useful in other scenarios as well. 10 [00591 Further, it should be understood that other control-system arrangements are also possible. For instance, some implementations may involve a centralized control system with additional layers (e.g., sub-region systems within the regional control systems, and so on). Alternatively, control functions may be provided by a single, centralized, control system, which communicates directly with one or more downlink balloons. 15 [00601 In some embodiments, control and coordination of a balloon network may be shared by a ground-based control system and a balloon network to varying degrees, depending upon the implementation. In fact, in some embodiments, there may be no ground based control systems. In such an embodiment, all network control and coordination functions may be implemented by the balloon network itself. For example, certain balloons 20 may 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. [00611 Furthermore, control and/or coordination of a balloon network may be de centralized. For example, each balloon may relay state information to, and receive state information from, some or all nearby balloons. Further, each balloon may relay state 25 information that it receives from a nearby balloon to some or all nearby balloons. When all - 18 - WO 2013/106281 PCT/US2013/020536 balloons do so, each balloon may be able to individually determine the state of the network. Alternatively, certain balloons may be designated to aggregate state information for a given portion of the network. These balloons may then coordinate with one another to determine the overall state of the network. 5 [00621 Further, in some aspects, control of a balloon network may be partially or entirely localized, such that it is not dependent on the overall state of the network. For example, individual balloons may implement station-keeping functions that only consider nearby balloons. In particular, each balloon may implement an energy function that takes into account its own state and the states of nearby balloons. The energy function may be used 10 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 such an energy function for station-keeping, the balloon network as a whole may maintain and/or move towards the desired topology. [00631 As an example, each balloon A may receive distance information d to dk with 15 respect to each of its k closest neighbors. Each balloon A may treat the distance to each of the k balloons as a virtual spring with vector representing a force direction from the first nearest neighbor balloon i toward balloon A and with force magnitude proportional to di. The balloon A may sum each of the k vectors and the summed vector is the vector of desired movement for balloon A. Balloon A may attempt to achieve the desired movement by 20 controlling its altitude. [00641 Alternatively, this process could assign the force magnitude of each of these virtual forces equal to di x d, for instance. Other algorithms for assigning force magnitudes for respective balloons in a mesh network are possible. [00651 In another embodiment, a similar process could be carried out for each of the k 25 balloons and each balloon could transmit its planned movement vector to its local neighbors. - 19 - WO 2013/106281 PCT/US2013/020536 Further rounds of refinement to each balloon's planned movement vector can be made based on the corresponding planned movement vectors of its neighbors. It will be evident to those skilled in the art that other algorithms could 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 5 geographic location. 2d) Example Balloon Configuration [00661 Various types of balloon systems may be incorporated in an example balloon network. As noted above, an example embodiment may utilize high-altitude balloons, which 10 could typically operate in an altitude range between 18 km and 25 kn. Figure 3 shows a high-altitude balloon 300, according to an example embodiment. As shown, the balloon 300 includes an envelope 302, a skirt 304, a payload 306, and a cut-down system 308, which is attached between the balloon 302 and payload 304. [00671 The envelope 302 and skirt 304 may take various forms, which may be 15 currently well-known or yet to be developed. For instance, the envelope 302 and/or skirt 304 may be made of materials including metalized Mylar or BoPet. Additionally or alternatively, some or all of the envelope 302 and/or skirt 304 may be constructed from a highly-flexible latex material or a rubber material such as chloroprene. Other materials are also possible. Further, the shape and size of the envelope 302 and skirt 304 may vary depending upon the 20 particular implementation. Additionally, the envelope 302 may be filled with various different types of gases, such as helium and/or hydrogen. Other types of gases are possible as well. [00681 The payload 306 of balloon 300 may include a processor 312 and on-board data storage, such as memory 314. The memory 314 may take the form of or include a non 25 transitory computer-readable medium. The non-transitory computer-readable medium may - 20- WO 2013/106281 PCT/US2013/020536 have instructions stored thereon, which can be accessed and executed by the processor 312 in order to carry out the balloon functions described herein. Thus, processor 312, in conjunction with instructions stored in memory 314, and/or other components, may function as a controller of balloon 300. 5 [00691 The payload 306 of balloon 300 may also include various other types of equipment and systems to provide a number of different fumetions. For example, payload 306 may include an optical communication system 316, which may transmit optical signals via an ultra-bright LED system 320, and which may receive optical signals via an optical communication receiver 322 (e.g., a photodiode receiver system). Further, payload 306 may 10 include an RF communication system 318, which may transmit and/or receive RF communications via an antenna system 340. [00701 The payload 306 may also include a power supply 326 to supply power to the various components of balloon 300. The power supply 326 could include a rechargeable battery. In other embodiments, the power supply 326 may additionally or alternatively 15 represent other means known in the art for producing power. In addition, the balloon 300 may include a solar power generation system 327. The solar power generation system 327 may include solar panels and could be used to generate power that charges and/or is distributed by the power supply 326. [00711 The payload 306 may additionally include a positioning system 324. The 20 positioning system 324 could include, for example, a global positioning system (GPS), an inertial navigation system, and/or a star-tracking system. The positioning system 324 may additionally or alternatively include various motion sensors (e.g., accelerometers, magnetometers, gyroscopes, and/or compasses). [00721 The positioning system 324 may additionally or alternatively include one or 25 more video and/or still cameras, and/or various sensors for capturing environmental data. -21- WO 2013/106281 PCT/US2013/020536 [00731 Some or all of the components and systems within payload 306 may be implemented in a radiosonde or other probe, which may be operable to measure, e.g., pressure, altitude, geographical position (latitude and longitude), temperature, relative humidity, and/or wind speed and/or wind direction, among other information. 5 [00741 As noted, balloon 300 includes an ultra-bright LED system 320 for free-space optical communication with other balloons. As such, optical communication system 316 may be configured to transmit a free-space optical signal by modulating the ultra-bright LED system 320. The optical communication system 316 may be implemented with mechanical systems and/or with hardware, firmware, and/or software. Generally, the manner in which an 10 optical communication system is implemented may vary, depending upon the particular application. The optical communication system 316 and other associated components are described in further detail below. [00751 In a further aspect, balloon 300 may be configured for altitude control. For instance, balloon 300 may include a variable buoyancy system, which is configured to change 15 the altitude of the balloon 300 by adjusting the volume and/or density of the gas in the balloon 300. A variable buoyancy system may take various forms, and may generally be any system that can change the volume and/or density of gas in the envelope 302. [00761 In an example embodiment, a variable buoyancy system may include a bladder 310 that is located inside of envelope 302. The bladder 310 could be an elastic chamber 20 configured to hold liquid and/or gas. Alternatively, the bladder 3 10 need not be inside the envelope 302. For instance, the bladder 310 could be a rigid bladder that could be pressurized well beyond neutral pressure. The buoyancy of the balloon 300 may therefore be adjusted by changing the density and/or volume of the gas in bladder 310. To change the density in bladder 310, balloon 300 may be configured with systems and/or mechanisms for 25 heating and/or cooling the gas in bladder 310. Further, to change the volume, balloon 300 - 22 - WO 2013/106281 PCT/US2013/020536 may include pumps or other features for adding gas to and/or removing gas from bladder 3 10. Additionally or alternatively, to change the volume of bladder 3 10, balloon 300 may include release valves or other features that are controllable to allow gas to escape from bladder 310. Muhiple bladders 310 could be implemented within the scope of this disclosure. For 5 instance, multiple bladders could be used to improve balloon stability. [00771 In an example embodiment, the envelope 302 could be filled with helium, hydrogen or other lighter-than-air material. The envelope 302 could thus have an associated upward buoyancy force. In such an embodiment, air in the bladder 3 10 could be considered a ballast tank that may have an associated downward ballast force. In another example 10 embodiment, the amount of air in the bladder 310 could be changed by pumping air (e.g., with an air compressor) into and out of the bladder 310. By adjusting the amount of air in the bladder 3 10, the ballast force may be controlled. In some embodiments, the ballast force may be used, in part, to counteract the buoyancy force and/or to provide altitude stability. [00781 In other embodiments, the envelope 302 could be substantially rigid and 15 include an enclosed volume. Air could be evacuated from envelope 302 while the enclosed volume is substantially maintained. In other words, at least a partial vacuum could be created and maintained within the enclosed volume. Thus, the envelope 302 and the enclosed volume could become lighter than air and provide a buoyancy force. In yet other embodiments, air or another material could be controllable introduced into the partial vacuum 20 of the enclosed volume in an effort to adjust the overall buoyancy force and/or to provide altitude control. [00791 In another embodiment, a portion of the envelope 302 could be a first color (e.g., black) and/or a first material from the rest of envelope 302, which may have a second color (e.g., white) and/or a second material. For instance, the first color and/or first material 25 could be configured to absorb a relatively larger amount of solar energy than the second color - 23- WO 2013/106281 PCT/US2013/020536 and/or second material. Thus, rotating the balloon such that the first material is facing the sun may act to heat the envelope 302 as well as the gas inside the envelope 302. In this way, the buoyancy force of the envelope 302 may increase. By rotating the balloon such that the second material is facing the sun, the temperature of gas inside the envelope 302 tnay 5 decrease. Accordingly, the buoyancy force may decrease. In this manner, the buoyancy force of the balloon could be adjusted by changing the temperature/volume of gas inside the envelope 302 using solar energy. In such embodiments, it is possible that a bladder 310 may not be a necessary element of balloon 300. Thus, in various contemplated embodiments, altitude control of balloon 300 could be achieved, at least in part, by adjusting the rotation of 10 the balloon with respect to the sun. [0080] Further, a balloon 306 tnay include a navigation system (not shown). The navigation system may implement station-keeping functions to maintain position within and/or move to a position in accordance with a desired topology. In particular, the navigation system may use altitudinal wind data to determine altitudinal adjustments that result in the 15 wind carrying the balloon in a desired direction and/or to a desired location. The altitude control system may then make adjustments to the density of the balloon chamber in order to effectuate the determined altitudinal adjustments and cause the balloon to move laterally to the desired direction and/or to the desired location. Alternatively, the altitudinal adjustments may be computed by a ground-based or satellite-based control system and communicated to 20 the high-altitude balloon. In other embodiments, specific balloons in a heterogeneous balloon network may be configured to compute altitudinal adjustments for other balloons and transmit the adjustment commands to those other balloons. [00811 As shown, the balloon 300 also includes a cut-down system 308. The cut down system 308 may be activated to separate the payload 306 from the rest of balloon 300. 25 The cut-down system 308 could include at least a connector, such as a balloon cord, -24 - WO 2013/106281 PCT/US2013/020536 connecting the payload 306 to the envelope 302 and a means for severing the connector (e.g., a shearing mechanism or an explosive bolt). In an example embodiment, the balloon cord, which may be nylon, is wrapped with a nichrome wire. A current could be passed through the nichrome wire to heat it and melt the cord, cutting the payload 306 away from the 5 envelope 302. [0082] The cut-down functionality may be utilized anytime the payload needs to be accessed on the ground, such as when it is time to remove balloon 300 from a balloon network, when maintenance is due on systems within payload 306, and/or when power supply 326 needs to be recharged or replaced. 10 [00831 In an alternative arrangement, a balloon may not include a cut-down system. In such an arrangement, the navigation system may be operable to navigate the balloon to a landing location, in the event the balloon needs to be removed from the network and/or accessed on the ground. Further, it is possible that a balloon may be self-sustaining, such that it does not need to be accessed on the ground. In yet other embodiments, in-flight balloons 15 may be serviced by specific service balloons or another type of service aerostat or service aircraft. 3. Balloon Network with Optical and RF Links Between Balloons [00841 In some embodiments, a high-altitude-balloon network may include super 20 node balloons, which communicate with one another via optical links, as well as sub-node balloons, which communicate with super-node balloons via RF links. Generally, the optical links between super-node balloons may be configured to have more bandwidth than the RF links between super-node and sub-node balloons. As such, the super-node balloons may function as the backbone of the balloon network, while the sub-nodes may provide sub -25 - WO 2013/106281 PCT/US2013/020536 networks providing access to the balloon network and/or connecting the balloon network to other networks. [00851 Figure 4 is a simplified block diagram illustrating a balloon network that includes super-nodes and sub-nodes, according to an example embodiment. More 5 specifically, Figure 4 illustrates a portion of a balloon network 400 that includes super-node balloons 410A to 410C (which may also be referred to as "super-nodes") and sub-node balloons 420 (which may also be referred to as "sub-nodes"). [00861 Each super-node balloon 410A to 410C may include a free-space optical c ommunication system that is operable for packet-data communication with other super-node 10 balloons. As such, super-nodes may communicate with one another over optical links. For example, in the illustrated embodiment, super-node 410A and super-node 401B tnay communicate with one another over optical link 402, and super-node 41 0A and super-node 401 C may communicate with one another over optical link 404. [00871 Each of the sub-node balloons 420 nay include a radio-frequency (RF) 15 communication system that is operable for packet-data communication over one or more RF air interfaces. Accordingly, each super-node balloon 410A to 410C may include an RF communication system that is operable to route packet data to one or more nearby sub-node balloons 420. When a sub-node 420 receives packet data from a super-node 410, the sub node 420 may use its RF communication system to route the packet data to a ground-based 20 station 430 via an RF air interface. [00881 As noted above, the super-nodes 410A to 410C may be configured for both longer-range optical communication with other super-nodes and shorter-range RF communications with nearby sub-nodes 420. For example, super-nodes 410A to 410C may use using high-power or ultra-bright LEDs to transmit optical signals over optical links 402, 25 404, which may extend for as much as 100 miles, or possibly more. Configured as such, the - 26 - WO 2013/106281 PCT/US2013/020536 super-nodes 410A to 410C may be capable of optical communications at data rates of 10 to 50 GBit/sec or more. [00891 A larger number of high-altitude balloons may then be configured as sub nodes, which may communicate with ground-based Internet nodes at data rates on the order 5 of approximately 10 MBit/sec. For instance, in the illustrated implementation, the sub-nodes 420 may be configured to connect the super-nodes 410 to other networks and/or directly to client devices. [00901 Note that the data speeds and link distances described in the above example and elsewhere herein are provided for illustrative purposes and should not be considered 10 limiting; other data speeds and link distances are possible. [0091] In some embodiments, the super-nodes 410A to 410C may function as a core network, while the siub-nodes 420 function as one or more access networks to the core network. In such an embodiment, some or all of the sub-nodes 420 may also function as gateways to the balloon network 400. Additionally or alternatively, sotne or all of ground 15 based stations 430 may function as gateways to the balloon network 400. 4. A balloon with an optical-communication component having a pointing axis adjustable based on a first location and a second location. [0092] A balloon may be configured to communicate with a correspondent balloon, 20 for example to establish an optical-communications link between the balloons. The two balloons could be similar, or the two balloons could be dissimilar (e.g., different types of nodes in a heterogeneous balloon network). In some embodiments, an optical communications link may be additionally established between the balloon to a ground-based station and/or a space-based platform (eg., a satellite). - 27 - WO 2013/106281 PCT/US2013/020536 [00931 The balloon could include one or more optical-communication components, such as an optical transmitter, an optical receiver, and/or an optical transceiver. Accordingly, some example embodiments could be described in reference to Figure 3 and Figure 5. Figure 5 is a simplified block diagram illustrating an optical transmitter 500 and an optical receiver 5 520, according to an example embodiment. [00941 In such an example embodiment, an optical transmitter 500 could receive data in 502 that could be in the form of electrical and/or optical signals. The electrical and/or optical signals that comprise the data in 502 may include information in the form of one or more digital or analog voltage and/or optical intensity level(s). The data in 502 could be 10 received by the optical transmitter 500 via an electrical (e.g., wire or multi-conductor cable) or optical (e.g., optical fiber or waveguide) connection. Modulator 504 could encode the information from the data in 502 using one or more encoding techniques, such as intensity modulation, phase modulation, pulse-wave modulation, and/or frequency modulation. Those skilled in the art will understand that modulator 504 could reasonably use other known 15 encoding schemes. [00951 A driver 506 may convert the encoded information into a driving signal that could act to illuminate a light source 508. In an example embodiment, light source 508 could represent one or more light-emitting diodes (LED) or lasers. The light source 508 could also include other high-power light sources known in the art, The emission wavelengths of light 20 source 508 could be in the ultraviolet, visible, infrared and microwave spectral regimes. The wavelength band of emission could be relatively narrow (e.g., a few nanometers in spectral width). Alternatively, the wavelength band could be broadband (e.g., a large portion of visible spectrum, as is common in 'white' LED emission). Further, light source 508 could be configured to emit light at multiple discrete wavelengths (e.g., with a two-color laser) or 25 within multiple wavebands (e.g., with a multi-color LED). - 28 - WO 2013/106281 PCT/US2013/020536 [00961 The light source 508 could be configured to modulate (e.g., turn on and off) at high frequencies in order to achieve more than 10 gigabit-per-second (GBit/s) data throughput. Light emitted from light source 508 could be either collimated or uncollimated. Further, the intensity of the emitted light could be adjustable. The emitted light could be 5 collimated and/or focused by transmission optics 510. The transmission optics 510 could include elements such as a telescope and/or a beam expander. Depending upon the embodiment, other optical elements could be included in the transmission optics 510, such as those known in the art that may be used for long-range imaging, [00971 In an alternative embodiment, light emitted from the light source 508 could be 10 modulated by a modulator. For instance, a polarization modulator could be configured to modulate the polarization of the light emitted from light source 508. In such a scenario, the free-space optical signal could include data based, at least in part, on the polarization of light. Various modulator types are possible, including a liquid-crystal modulator and a spatial light modulator, among others. In practice, the free-space optical signal could include more than 15 one type of light modulation. Further, the light modulation could be performed at high frequencies to achieve more than 10 GBit/s data transmission. [00981 Depending upon the embodiment, the elements of the transmission optics 510 could be configured in different ways in an effort to efficiently transmit output light as a free space optical signal, such as signal 512, to a correspondent balloon. For instance, the 20 transmission optics 510 could be configured to provide an optical-communications link over several kilometers. In other embodiments, the transmission optics 510 could be configured differently in order to establish an optical-communications link with a ground-based station or a space-based platform. For instance, the configuration of optical components in the transmission optics 510 could be different if the intended target was a ground-based station 25 (15-30 kin away) compared to if the intended target was a space-based platform -29- WO 2013/106281 PCT/US2013/020536 (geosynchronous orbits can be over 42,000 km). Therefore, the distance between the balloon and a space-based target could be over 42,000 km away. Accordingly, the optical components in the transmission optics 510 could be adjusted (e.g., by using a zoom and/or focusing feature on the telescope). In other embodiments, separate sets of transmission optics 5 510 could be used based upon, for instance, the intended target distance and target altitude. [00991 An optical receiver 520 could be configured to receive a signal 522 that could represent part of an optical-communications link. The signal 522 could be a free-space optical signal with encoded information from a correspondent balloon or another airborne platform. The signal 522 could also originate from a ground-based station or a space-based 10 platform (e.g., a satellite or other space-craft). [001001 Signal 522 could be optically collected by receiver optics 524. Receiver optics 524 could include a telescope or any combination of optics (such as refractive lenses and reflective mirrors) known in the art for receiving free-space optical signals at long distances (e.g., more than several kilometers). Light received by the receiver optics 524 15 could be amplified using an optical preamplifier 526. The optical preamplifier 526 could include one or more of a doped fiber amplifier, semiconductor optical amplifier (SOA), Raiman amplifier, and/or a parametric amplifier. Other optical amplifier types are possible within the context of this disclosure. [001011 The amplified optical signal could be filtered by an optical filter 528. 20 In some embodiments, the optical filter could include an absorptive filter, an interference filter, and/or a dichroic filter. The optical signal could be filtered in various ways, for instance based upon wavelength (e.g., in a bandpass filter) and/or polarization (e.g., with a polarizer or waveplate). [001021 The filtered light could be detected by a photodetector 530. The 25 photodetector 530 could include one or more photodiodes, charge-coupled devices (CCD), - 30 - WO 2013/106281 PCT/US2013/020536 photoconductors, or other means for photon-sensing known in the art. The photodetector 530 could include a multiple element detector system configured to detect changes in an optical beam location. In an example embodiment, the photodetector could transduce incident light into a photocurrent signal. The photocurrent signal could then be amplified with a 5 transimpedance amplifier 532. The transimpedance amplifier 532 may be configured to convert the photocurrent signal into a voltage and provide signal gain. Other amplifier types are possible, and could be dependent, for instance, upon the output type of the photodetector. For instance, if the photodetector 530 is a photoconductive device that produces a photovoltage, a tranconductance amplifier could be used to convert the photovoltage to a 10 signal current. Those skilled in the art will understand that there are many other ways to convert a photosignal into an electrical signal, and those other ways are contemplated herein. [001031 The optical receiver could also include a demodulator / error correction element 534, which may be configured to extract information from the signal 522. The type of demodulation utilized by the demodulator / error-correction element 534 may 15 depend upon the type of modulation initially performed on the optical signal. For instance, the demodulation method may include carrier recovery, clock recovery, frame synchronization, pulse compression, error detection and correction, and/or mixing with a local oscillator (e.g., heterodyne detection). Other demodulation methods known in the field of optical and digital signal processing are possible. 20 [001041 The demodulator / error-correction element 534 could be further configured to detect and correct errors in the as-received signal. For instance, the element 534 could include a hash function, a checksum algorithm, and/or other redundancy check algorithns in an effort to reduce data transmission errors. Further, error-correcting codes (ECCs) (e.g., Turbo or low-density parity--check codes) could be implemented in the 25 demodulator / error-conrection element 534 to detect and correct errors. If errors are found, - 31 -- WO 2013/106281 PCT/US2013/020536 the optical receiver 520 could be configured to correct the error automatically with a forward error correction (FEC) algorithm. Alternatively, the optical receiver 520 could be configured to send an automatic repeat request (ARQ) to the transmitting node via a reverse channel in an effort to get a new transmission of the data. 5 [001051 In reference to Figure 3, the optical-communication component(s) 330, such as optical transmitter 500 and/or optical receiver 520, could be mechanically and/or optically coupled to a gimbal mount 328. The gimbal mount 328 could be configured to adjustably point in a pointing direction 332. Second optical-communication components) 336 could be mechanically and/or optically coupled to a gimbal mount 334 and oriented 10 along a pointing direction 338. The second optical-communication components) 336 could represent multiple components configured to maintain optical communication links with multiple nodes and/or nodes at varying altitudes. For instance, optical-communication component 330 could be configured to maintain an optical link with a neighboring balloon while optical-communication component 336 could be configured to maintain an optical link 15 with a ground-based station. In other words, one or more optical-communication components could be used with respective pointing mechanisms in an effort to maintain optical links with one or more ground-, air-, or space-based network nodes. Within the context of this disclosure, the optical-communication components 330 and 336 may include an optical transmitter, an optical receiver, and/or an optical transceiver. 20 [001061 Figure 6 shows an example scenario for establishing an optical link between balloons. For instance, a balloon 602 may attempt to establish a free-space optical link with a correspondent balloon 612. The balloon 602 may have a pointing mechanism, such as gimbal mount 328. The pointing mechanism could adjust a pointing axis of an optical- communication component. The optical-communication component could be an 25 optical receiver, an optical transmitter, and/or an optical transceiver. - 32 - WO 2013/106281 PCT/US2013/020536 [001071 The balloon 602 may include a positioning system configured to acquire a first location. The first location could represent the location of the balloon 602. The first location could be acquired using, for example, a GPS receiver or a radio transceiver configured to receive radio signals from a ground-based station. 5 [001081 The balloon 602 could further include a controller. The controller could be configured to acquire a second location, which may represent the location of the correspondent balloon 612. The controller could be any combination of positioning systems, computers, and memory. Other configurations of the controller are possible. [001091 The controller could acquire the second location in various ways. For 10 instance, the controller could acquire the second location via an RE communications link. Alternatively, the controller could acquire the second location by imaging with a camera. In another embodiment, the controller could acquire the second location using a GlPS receiver. 1001101 The controller could determine an approximate target axis 604 based on the first location and the second location. The approximate target axis determination 15 could take into account, for instance, the latitude/longitude of the respective balloons (602 and 612), as well as their respective altitudes. The approximate target axis determination could also depend upon the heading or rotational orientation of the respective balloons 602 and 61'2 [001111 The controller may control the pointing mechanism to adjust the 20 pointing axis within a scaring range 610 based on the approximate target axis 604. The scanning range 610 could be a cone-shaped volume centered on the approximate target axis 604. The scanning range 610 could have angular or absolute bounds such as bounds 606 and 608. [001121 The controller could control the pointing mechanism to adjust the 25 pointing axis within the scanning range 610 using known search algorithms, such as linear - 33 - WO 2013/106281 PCT/US2013/020536 zig-zag scanning, or spiral scanning. Alternatively, specific angles within the scanning range 610 could be sampled in a 'rough' scan. A 'fine' scan, for example involving more closely spaced specific angles, may be then performed based on the results of the 'rough' scan. [00113] In one embodiment, the optical-communication component may be an 5 optical receiver. In such a case, the pointing mechanism could be controlled by the controller to adjust the pointing axis of the optical receiver through the scanning range 610 in an effort to establish an optical communications link. For instance, the optical receiver output may be monitored to detect an optical beacon from the correspondent balloon 612. If the optical receiver detects the optical beacon, the scanning may stop and a free-space optical link could 10 be established. [00114] In another embodiment, the optical-communication component could be an optical transmitter. As described above, the pointing mechanism could be controlled by the controller to adjust the pointing axis of the optical transmitter through the scanning range 610 in an effort to establish an optical communications link. During the scanning process, 15 the optical transmitter could transmit, for example, an optical beacon that may prompt an acknowledgement signal via a reverse channel. The optical beacon could be any signal recognizable as such by the correspondent balloon 612. When the correspondent balloon 612 detects the optical beacon, an acknowledgement signal could be transmitted from the correspondent balloon 612 to the balloon 602, for instance, via a reverse channel. A reverse 20 channel could be represented by any means with which the correspondent balloon 612 could signal the balloon 602, (e.g., an RF signal, an optical signal, or an indirect link through a ground-based station). Upon receiving the acknowledgement signal from the correspondent balloon 612, a free-space optical link could be established and optical data transmission may commence. - 34 - WO 2013/106281 PCT/US2013/020536 [001151 In further embodiments, an optical beacon and/or an acknowledgement signal may not be necessary to establish the free-space optical link. For instance, a camera on the balloon 602 may provide images that could be used as feedback during the scanning process. As such, the controller may control the pointing mechanism to adjust the pointing 5 axis within the scanning range 610 such that the correspondent balloon 612 is centered within the images. When a centered condition is met, optical data transmission may commence, and a free-space optical link may be established. [001161 In yet another embodiment, the optical-communication component could include an optical transceiver. The optical transceiver may represent an optical 10 receiver and an optical transmitter having a shared pointing axis. The optical transceiver could thus be configured to send and receive optical signals along the shared pointing axis. As described above, the pointing mechanism could be controlled by the controller to adjust the pointing axis of the optical transceiver through the scanning range 610 in an effort to establish an optical communications link. In such an example embodiment, the optical 15 transceiver could i) search for an optical beacon, ii) transmit an optical beacon, or both. Accordingly, upon i) detecting an optical beacon, and/or ii) receiving an acknowledgement signal, the scanning may stop and an optical communication link may be established. 5. Method for controlling a pointing mechanism to adjust a pointing axis of 20 an optical-communication component in a balloon based on a first location and a second location [001171 A method 700 is provided for pointing an optical-communication component attached to a first balloon towards a second balloon based on the second balloon's relative location. The method could be performed using any of the apparatus shown in 2.5 Figures 1-6 and described above. However, other configurations could be used. Figure 7 - 35 WO 2013/106281 PCT/US2013/020536 illustrates the steps in an example method with reference to Figure 6, however, it is understood that in other embodiments, the steps may appear in different order and steps could be added or subtracted. [00118] Step 702 includes determining a location of a first balloon 602. Step 5 704 includes determining a location of a second balloon 612. The location of the first balloon 602 andior the second balloon 612 may be determined using, for example, a GPS receiver. The first balloon 602 could acquire the location of the second balloon 612 by optical means, such as by imaging balloon 612 with a camera or by receiving an optical beacon from balloon 612. Alternatively or additionally, the location of the first balloon 602 and/or the second 10 balloon 612 could be determined using a radio transceiver configured to receive such information. The radio transceiver could be included in the system configured to perform the location determination, or it could be located elsewhere. The radio transceiver may be configured to receive location information from a ground-based station, a balloon, a satellite, and/or any other device having information about the location of the first balloon 602 and/or 15 the second balloon 612. [001191 The location of the first balloon 602 and the second balloon 612 could be determined at either the first balloon 602 or the second balloon 612, or could be determined at a remote location (e.g., a ground-based station, a satellite, or a super-node balloon). 20 [00120] The respective locations of the first balloon 602 and the second balloon 612 could also be determined by other means. In one example embodiment, a star-tracking system could be used to determine the position of one or both of the first balloon 602 and the second balloon 612. The star-tracking system may be configured to identify and track stars for navigational purposes and could include, for instance, a camera and/or a photocell. - 36 - WO 2013/106281 PCT/US2013/020536 [001211 Step 706 includes determining an approximate target axis 604 based on the location of the second balloon 612 relative to the location of the first balloon 602. In one embodiment, the first balloon 602 may have information regarding the location of the second balloon 612, for instance front GPS data. The first balloon 602t may further know its own 5 position from an on-board GPS receiver. From these data, the first balloon 602 could calculate the relative position of the second balloon 612. Depending on the specificity of the location data, a target axis could be approximated by the first balloon and may include a line originating at the first balloon 602 and projecting towards the more or less specific location of the second balloon 612 (e.g., as indicated by approximate target axis 604 shown in Figure 10 6). [00122] In another embodiment, Step 706 (determining an approximate target axis) could be carried out by any computing device that has knowledge about the relative distance and direction between the first balloon 602 and the second balloon 612. For instance, the approximate target axis 604 could be determined by a super-node balloon in the 15 balloon network, which may receive GPS or RF triangulation information from neighboring balloons. Alternatively, a ground-based station, which may be interconnected to a server network andlor the Internet, could determine the approximate target axis 604. [001231 Step 708 includes controlling a pointing tnechanisn to adjust a pointing axis of an optical-communication component in the first balloon 602 within a 20 scanning range 610 based on the approximate target axis 604. The optical-cotnmunication component in the first balloon 602 is operable to communicate with the second balloon 612 via a free-space optical link, and may include an optical receiver, an optical transmitter, and/or an optical transceiver. - 37 - WO 2013/106281 PCT/US2013/020536 [001241 With reference to Figure 3, the gimbal mount 328, which may also be termed the pointing mechanism, could be controlled to point the optical-communication component 330 towards the approximate target axis 332. [00125] The controlling of the pointing mechanism could be performed by the 5 first balloon, for instance using processor 312 and memory 314 to control the gimbal mount 328. Alternatively, the pointing mechanism could be controlled remotely by another balloon or ground- or space-based station. [001261 Once under local or remote control, the pointing mechanism could be adjusted within a scanning range based on the target axis. In other words, adjustments could 10 be performed in a spatial search routine with an effort to establish and maintain a free-space optical link. In one embodiment, if the optical-connnunication component is an optical receiver, the optical receiver may be pointed along the approximate target axis. The pointing mechanism may be adjusted so that the optical receiver is moved through a scanning range around the approximate target axis while trying to detect, for instance, an optical beacon 15 transmitted by the second balloon. A hill climb algorithm could be used to quickly find the optimal pointing orientation, or the optical receiver could simply be swept through the entire range of angles and then pointed towards the angle with the largest optical beacon signal. Other techniques known in the art to establish and optimize a line-of-sight optical link may be reasonably used within the context of the disclosure. 20 [001271 The scanning range could be a range of angles, such as an angular cone, centered on the approximate target axis. The scanning range could be based at least upon the approximate distance to the second balloon. For instance, if the second balloon is far away, the scanning range may be relatively small. Conversely, if the second balloon is relatively nearby, a larger cone of angles may be necessary to find an optimal pointing axis 25 towards the second balloon. - 38 - WO 2013/106281 PCT/US2013/020536 6. A non-transitory computer readable medium with instructions to adjust a pointing axis of an optical-communication component in a balloon based on a first location and a second location 5 [001281 Some or all of the functions described above and illustrated in Figures 3, 5, 6, and 7 may 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 10 discs, one or more optically encoded discs, or any other form of non-transitory data storage. The non-transitory computer readable medium could also be distributed among multiple data storage elements, which could be remotely located from each other. The computing device that executes the stored instructions could be a computing device, such as the processor 3 12 illustrated in Figure 3. Alternatively, the computing device that executes the stored 15 instructions could be another computing device, such as a server in a server network, or a ground-based station. [001291 The non-transitory computer readable medium may store instructions executable by the processor 312 to perform various functions. The functions could include the determination of a location of a first balloon. The functions could further include the 20 determination of a location of a second balloon. The functions may additionally include the determination an approximate target axis based on the location of the second balloon relative to the location of the first balloon. The processor 312 could, for instance, receive GPS coordinates of the first balloon and the second balloon in order to determine the approximate target axis. Alternatively, the computer readable medium could be located remotely from 2.5 both the first and the second balloons. - 39 - WO 2013/106281 PCT/US2013/020536 [001301 The non-transitory computer readable medium may include further functions such as controlling a pointing mechanism to adjust a pointing axis of an optical communication component in the first balloon within a scanning range based on the approximate target axis to establish a free-space optical link with the second balloon. 5 - 40 - WO 2013/106281 PCT/US2013/020536 CONCLUSION [00131] The above detailed description describes various features and functions of the disclosed systems, devices, and methods with reference to the accompanying figures. 5 While various aspects and embodiments have been disclosed herein, other aspects and embodiments will be apparent to those skilled in the art. The various aspects and embodiments disclosed herein are for purposes of illustration and are riot intended to be limiting, with the true scope and spirit being indicated by the following claims. 10 - 41 -

权利要求:
Claims (34)
[1] 1. A balloon, comprising: 5 an optical-comnmunication component, wherein the optical-communication component has a pointing axis, and wherein the optical-conmunication component is operable to communicate with a correspondent balloon via a free-space optical link; a pointing mechanism configured to adjust the pointing axis; a positioning system configured to acquire a first location, wherein the first location is 10 based on a location of the balloon; and a controller, wherein the controller is configured to: a) acquire a second location, wherein the second location is based on a location of the correspondent balloon: b) determine an approximate target axis based on the first location and the 15 second location; and c) control the pointing mechanism to adjust the pointing axis within a scanning range based on the approximate target axis, to establish the free-space optical link with the correspondent balloon. 20
[2] 2. The balloon of Claim 1, wherein the balloon is a high-altitude balloon in a high altitude balloon network.
[3] 3. The balloon of Claim 1, wherein the optical-communication component comprises an optical receiver configured to receive free-space optical signals. 25
[4] 4. The balloon of Claim 3, wherein the optical receiver comprises a photodiode. - 42 - WO 2013/106281 PCT/US2013/020536
[5] 5. The balloon of Claim 3, wherein the optical receiver comprises a multiple element detector system configured to detect changes in an optical beam location. 5
[6] 6. The balloon of Claim 3, wherein the controller is configured to acquire the second location based on an optical beacon from the correspondent balloon received by the optical receiver.
[7] 7. The balloon of Claim 1, wherein the optical-communication component comprises an 10 optical transmitter configured to transmit free-space optical signals.
[8] 8. The balloon of Claim 7, wherein the optical transmitter comprises a light-emitting diode. 15
[9] 9. The balloon of Claim 7, wherein the optical transmitter comprises a laser,
[10] 10. The balloon of Claim 7, wherein the optical transmitter comprises a modulator, wherein the modulator is configured to modulate light to form the free-space optical signals. 20
[11] 11. The balloon of Claimn 10, wherein the modulator comprises a spatial light modulator.
[12] 12. The balloon of Claim 10, wherein the modulator comprises a polarization modulator. - 43 - WO 2013/106281 PCT/US2013/020536
[13] 13. The balloon of Claim 10, wherein the modulator comprises a liquid-crystal modulator.
[14] 14. The balloon of Claim I, wherein the optical-communication component comprises an 5 optical transceiver configured to transmit and receive free-space optical signals.
[15] 15. The balloon of Claim 1, wherein the positioning system comprises a global positioning system configured to acquire global positioning system data, and wherein the first location is acquired based on the global positioning system data. 10
[16] 16. The balloon of Claim I, wherein the positioning system comprises an inertial navigation system configured to acquire inertial navigation system data and wherein the first location is acquired based on the inertial navigation system data. 15
[17] 17. The balloon of Claim 1, further comprising a camera configured to acquire images and wherein the controller is configured to acquire the second location based on the images.
[18] 18. The balloon of Claim 1, further comprising a radio transceiver configured to acquire 20 radio signals, and wherein the controller is configured to acquire the second location based on the radio signals.
[19] 19. The balloon of Claim 18, wherein the radio signals comprise global positioning system data based on the second location. 25 - 44 - WO 2013/106281 PCT/US2013/020536
[20] 20. The balloon of Claim 18, wherein the radio signals comprise inertial navigation system data based on the second location.
[21] 21. The balloon of Claim 1, wherein the scanning range is based on a distance between 5 the first location and the second location.
[22] 22. A method, comprising: determining a location of a first balloon; determining a location of a second balloon; 10 determining an approximate target axis based on the location of the second balloon relative to the location of the first balloon; and controlling a pointing mechanism to adjust a pointing axis of an optical communication component in the first balloon within a scanning range based on the approximate target axis, to establish a free-space optical link with the second balloon. 15
[23] 23. The method of Claim 22, wherein determining the location of the second balloon comprises receiving global positioning system coordinates of the second balloon.
[24] 24. The method of Claim 22, wherein the first balloon comprises a camera configured to 20 acquire one or more images of the second balloon, and wherein determining the location of the second balloon comprises determining the location of the second balloon based on the one or more images.
[25] 25. The method of Claim 22, wherein the first balloon comprises a radio transceiver 25 configured to acquire radio signals, and wherein determining the location of the - 45 - WO 2013/106281 PCT/US2013/020536 second balloon comprises determining the location of the second balloon based on the radio signals.
[26] 26. The method of Claim 22, wherein the optical-communication component in the first 5 balloon comprises an optical receiver configured to receive free-space optical signals.
[27] 27. The method of Claim 26, wherein determining the location of the second balloon comprises determining the location of the second balloon based on an optical beacon received by the optical receiver. 10
[28] 28. The method of Claim 22, wherein the optical-communication component in the first balloon comprises an optical transmitter configured to transmit free-space optical signals. 15
[29] 29. The method of Claim 22, wherein the optical-communication component in the first balloon comprises an optical transceiver configured to transmit and receive free-space optical signals.
[30] 30. The method of Claim 22, wherein the scanning range is based on a distance between 20 the location of the first balloon and the location of the second balloon.
[31] 3 1. A non-transitory computer readable medium having stored therein instructions executable by a computing device to cause the computing device to perform functions comprising: 25 determining a location of a first balloon; - 46 - WO 2013/106281 PCT/US2013/020536 determining a location of a second balloon; determining an approximate target axis based on the location of the second balloon relative to the location of the first balloon; and controlling a pointing mechanism to adjust a pointing axis of an optical 5 communication component in the first balloon within a scanning range based on the approximate target axis, to establish a free-space optical link with the second balloon.
[32] 32. The non-transitory computer readable medium of Claim 31, wherein determining the location of the second balloon comprises receiving global positioning system 10 coordinates of the second balloon.
[33] 33. The non-transitory computer readable medium of Claim 31, wherein the first balloon comprises a camera configured to acquire one or more images of the second balloon, and wherein determining the location of the second balloon comprises determining 15 the location of the second balloon based on the one or more images.
[34] 34. The non-transitory computer readable medium of Claim 3 1, wherein the first balloon comprises a radio transceiver configured to acquire radio signals, and wherein determining the location of the second balloon comprises determining the location of 20 the second balloon based on the radio signals. - 47 -

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EP2803150A1|2014-11-19|

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CN104160638A|2014-11-19|

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2017-01-05| PC| Assignment registered|Owner name: X DEVELOPMENT LLC Free format text: FORMER OWNER(S): GOOGLE INC. |

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