Aerostat assembly

An aerostat assembly comprising:

• a balloon containing a quantity of buoyant gas, a frame assembly having a center support and one or more beams and one or more thruster assemblies, each thruster assembly having a thruster;
• a tether line extending from the balloon to the center support;
• the center support having a pivot assembly engaging the tether line;
• a controller, the controller actuating each thruster;
• the assembly having a yaw axis, a pitch axis and a roll axis;
• wherein said buoyant gas exerts an upward lift force on the aerostat assembly, the frame assembly is in mechanical equilibrium, the pivot assembly allows rotation of the frame assembly about the yaw axis, and a thruster exerts a turning force on the boom assembly about any of the yaw, pitch or roll axes wherein the pivot assembly comprises a gimbal assembly.