Extensive Regional Telecommunications Coverage in Emergency Condition using Tethered-Balloon Equipped with Antenna Pointing Mechanism – Part 1: Kinematic and Dynamic Modeling

In emergency situations, where there is no possibility of using terrestrial-based or space-based telecommunication platforms or when there is a need for providing telecommunication services in remote, rural or hilly areas which are faced with lacking telecommunication infrastructures, typically using tethered balloon-based telecommunication technology is the best choice. Despite all the advantages of using this technology, small and limited coverage area is the biggest drawback of using tethered balloon platforms. In this paper, using a tethered balloon equipped with antenna pointing mechanism is proposed in order to, extend their small coverage area to a large region, in addition to benefit from inherent tethered balloons technology advantages. In this regard, dynamic and kinematic modeling of the proposed antenna pointing mechanism is discussed. In this research, the kinematic model is validated using RoboAnalyzer software and Robotics MATLAB toolbox. Antenna pointing mechanism provides the rotation ability for the antenna in two Azimuth and Elevation directions which increased the coverage area dramatically.