A blimp depicting Donald Trump as a whingeing nappy-clad baby clutching a mobile phone was successfully launched in Parliament Square as protests against the US President’s visit mounted.

Cheers greeted the 20ft (6m) high inflatable caricature’s take-off in central London at around 9.30am on Friday, ahead of rallies across the capital.

Mr Trump will not personally witness the blimp’s flight, which received support from his nemesis, London Mayor Sadiq Khan, but the Republican said it had made him “feel unwelcome” in London.

Critics gathering in the square opposite the Palace of Westminster did not deny that that was their intention.

Mexican Paul Fonseca, 23, who is living in Camden, north London, said: “I think it’s hilarious. It’s an accurate representation of his politics which are so immature. He never enters into adult discussion.”

Jason Caines, 50, from Pimlico, central London, said: “It’s good. It needs to be done because he’s a bigot and a racist. He shouldn’t be president.”

Several anti-Trump protest groups were to meet in Portland Place on Friday as the president has a working lunch with Prime Minister Theresa May at her country residence, Chequers.

In an interview with The Sun, Mr Trump said: “I guess when they put out blimps to make me feel unwelcome, no reason for me to go to London.”

The inflatable’s flight was approved by the Greater London Authority, with Mr Khan defending the decision.

The Metropolitan Police’s Lucy D’Orsi, who is in charge of the policing operation for the visit, said she had seen discussion about police “restricting the right to protest”, and added that the force was aiming to strike a balance between that and public safety.

With Mr Trump set to travel to Scotland on Friday evening after meeting the Queen at Windsor Castle, a rally is planned for Glasgow’s George Square.