A "wing in ground effect" aerial vehicle includes a wing mounted on a fuselage, and two cycloidal propulsion units for providing lift, thrust and longitudinal control. Additional lift is provided by a lighter-than-air gas such as helium contained in the fuselage. Operationally, the two cycloidal propulsion units and the volume of lighter-than-air gas are concertedly regulated to achieve "wing in ground effect" flight. Importantly, the two cycloidal propulsion units may operate in one of several modes, to include a curtate mode, a prolate mode, and a fixed-wing mode. Additionally, the vehicle may hover. Also, a thruster unit is mounted on the fuselage for providing forward thrust in combination with, or in lieu of, the two cycloidal propulsion units.