AIRBORNE STRUCTURE FOR AN ARRAY OF GEOPHYSICAL SENSORS, TO BE TOWED BY AN AIRCRAFT, AND KIT AND METHOD FOR ASSEMBLING THE SAME

Abstract

Disclosed is an airborne unitary structure, to a kit and to a method for assembling and scaling such an airborne unitary structure. The unitary structure is configured to be towed by an aircraft such as an Unmanned Aerial Vehicle. The kit comprises at least two sensor modules and a linkage assembly. The two sensor modules are each configured to house at least one geophysical sensor. The linkage assembly is configured to rigidly connect the at least two sensor modules with one another and spaced apart from one another and thus securing their exact position relative to one another to allow exact relative measurements. To adapt the structure to different measurement tasks, the linkage assembly is configured to be assembled in a first configuration and in a second configuration, wherein the first configuration differs from the second configuration in at least one of a distance between the at least two sensor modules and the number of sensor modules in the array. The structure may be particularly used for gradient measurements, such as using magnetometers as geophysical sensors. In a particularly advantageous embodiment, the sensor modules and/or the linkage assembly themselves are of modular structure.

Claims

1. A kit (2) for assembling an airborne unitary structure (1) of an array (11) of geophysical sensors (10), the unitary structure being configured to be towed by an aircraft (3), the kit (2) comprising: at least two sensor modules each sensor module of the at least two sensor modules being configured to house at least one of the geophysical sensors (10); and a linkage assembly (24), the linkage assembly being configured to rigidly connect the at least two sensor modules with one another spaced apart from one another; wherein the linkage assembly (24) is configured to be assembled in a first configuration (64) and in a second configuration (66), wherein the first configuration (64) differs from the second configuration (66) in at least one of a distance (26, 68) between the at least two sensor modules (8) and the number of sensor modules (8) in the array.

2. The kit (2) according to claim 1, wherein the linkage assembly (24) comprises at least one collapsible rod assembly (24a).

3. The kit (2) according to claim 1, wherein the linkage assembly (24) is configured to house an electric line connecting the at least two sensor modules (8).

4. The kit (2) according to claim 1, wherein the linkage assembly (24) comprises a first configuration (64) of a rod assembly (38) and a second configuration (66) of a rod assembly (38), the first configuration (64) being configured to connect the at least two sensor modules (8) at a first distance (26), the second configuration (66) being configured to connect the at least two sensor modules (8) at a second distance (68), and the first configuration (64) and the second configuration (66) of the rod assembly (38) being configured to be interchangeable with one another.

5. The kit (2) according to claim 1, wherein the kit comprises a plurality of linkage rods (38), the plurality of linkage rods (38) being configured to compose the linkage assembly (24) and form a truss (29).

6. The kit (2) according to claim 5, wherein each of the at least two sensor modules (8) is configured to be located at a node (30) of the truss (29).

7. The kit (2) according to claim 5, wherein at least one of the at least two sensor modules (8) is configured as a load-bearing structure of the truss (29).

8. The kit (2) according to claim 1, wherein the kit (2) comprises modules (72) configured to compose at least one of the at least two sensor modules (8), the modules (72) comprising at least two different, interchangeable tip modules (22).

9. The kit (2) according to claim 1, wherein the kit (2) comprises modules configured to compose at least one of the at least two sensor modules (8), the modules comprising at least one type of empennage module (18).

10. The kit (2) according to claim 1, wherein the kit (2) comprises modules (72) configured to compose at least one of the at least two sensor modules (8), the modules (72) comprising at least one type of fuselage module.

11. The kit (2) according to claim 1, wherein the kit (2) comprises modules (72) configured to compose at least one of the at least two sensor modules (8), the modules (72) comprising at least one type of geosensor module (12), a geosensor module (12) being configured to house at least one of the geophysical sensors (10).

12. The kit (2) according to claim 1, wherein the kit (2) comprises modules (72) configured to compose at least one of the at least two sensor modules (8), the modules (72) comprising at least one of at least one type of a tip module (22), at least one type of a fuselage module (20) and at least one type of an empennage module (18), the kit (2) further comprising a geosensor module (12), the geosensor module (12) being configured to be mounted to any one of the at least one type of tip module (22), at least one type of fuselage module (20) and at least one type of empennage module (18).

13. An airborne unitary structure (1) for an array (11) of geophysical sensors (10), the structure (1) being configured to be towed by an aircraft (3) and composed of modules (72) of a kit (2) according to claim 1.

14. A kit (2) for assembling an airborne sensor module (8), the sensor module (8) being configured to be towed by an aircraft (3), the kit (2) comprising: at least one tip module (22) configured to house electric or electronic components (23), at least one fuselage module (20), a plurality of fins (19) and at least one geosensor module (12) configured to house a geophysical sensor, wherein the at least one tip module (22), the at least one fuselage module (20), the plurality of fins (19) and the at least one geosensor module (12) are configured to be repeatedly assembled and disassembled.

15. (canceled)

16. (canceled)

17. A method for assembling an airborne unitary structure (1) for an array (11) of geophysical sensors (10), the method comprising the steps of: providing at least two sensor modules (8), each sensor module (8) being configured to house at least one geophysical sensor (10); providing a linkage assembly (24); assembling the linkage assembly in one of at least two different configurations (64, 66), the two configurations (64, 66) differing from one another in at least one of the number of sensor modules (8) connected by the linkage assembly and the distances (26, 68) between the at least two sensor assemblies (8); and connecting the at least two sensor modules (8) with one another using the linkage assembly.

18. The kit (2) according to claim 14, further comprising: a linkage assembly (24) that comprises at least one collapsible rod assembly (24a).

19. The kit (2) according to claim 14, further comprising: a linkage assembly (24) that comprises a first configuration (64) of a rod assembly (38) and a second configuration (66) of a rod assembly (38), the first configuration (64) being configured to connect at least two sensor modules (8) at a first distance (26), the second configuration (66) being configured to connect the at least two sensor modules (8) at a second distance (68), and the first configuration (64) and the second configuration (66) of the rod assembly (38) being configured to be interchangeable with one another.

20. The kit (2) according to claim 14, further comprising: a plurality of linkage rods (38), the plurality of linkage rods (38) being configured to compose the linkage assembly (24) and form a truss (29).

21. The kit (2) according to claim 20, wherein a sensor module (8) is configured to be located at a node (30) of the truss (29).

22. The kit (2) according to claim 20, wherein a sensor module (8) is configured as a load-bearing structure of the truss (29).

Description

[0073] In the figures:

[0074] FIG. 1 shows a schematic perspective view of an airborne, unitary structure for geophysical measurements assembled from a modular kit;

[0075] FIG. 2 shows a schematic perspective view of another airborne unitary structure assembled from the same kit as the structure in FIG. 1;

[0076] FIG. 3 shows a schematic perspective view of another airborne, unitary structure assembled from the same kit as in FIG. 1;

[0077] FIG. 4 shows a schematic view in a downstream direction IV of FIG. 3;

[0078] FIG. 5 shows a schematic view in a direction V perpendicular to the direction IV of FIG. 3;

[0079] FIG. 6 shows a schematic perspective view of another airborne unitary structure assembled from the same kit as FIG. 1;

[0080] FIG. 7 shows a schematic perspective view of another airborne unitary structure assembled from the same kit as FIG. 1;

[0081] FIG. 8 shows a schematic perspective view of a unitary, airborne structure for geophysical measurements assembled at least partly from the same kit as the structure of FIG. 1;

[0082] FIG. 9 shows a schematic perspective view of the structure of FIG. 8 in another operational state;

[0083] FIG. 10 shows a schematic perspective view of an airborne, unitary structure made from the same kit as the structure in FIG. 8;

[0084] FIG. 11 shows a schematic, perspective view of the structure of FIG. 10 in a different operational state; and

[0085] FIG. 12 shows a schematic view of exemplary components of a kit for assembling a structure as shown in FIGS. 1 to 11.

[0086] First, an example of a unitary, airborne structure 1 for geophysical measurements is described with reference to FIG. 1. The structure 1 is modular and assembled from interchangeable components, i.e. modules, of a kit 2 that is described further below.

[0087] The structure 1 is configured to be towed by an aircraft 3, such as a helicopter, an airplane or an unmanned aerial vehicle. To be towed, the structure 1 is configured to be connected to the aircraft by a towing member 4, which, for example may be a towing line, towing cable or towing rod. The towing structure may comprise one or more tow anchors 6, to which the towing member 4 may be attached.

[0088] The structure 1 comprises two or more sensor modules 8. In FIG. 1, three sensor modules 8 are shown just by way of example.

[0089] Each sensor module 8 houses at least one geophysical sensor 10 in the tail section or in the tip section, for example a magnetometer. In the structure, the geophysical sensors 10 of the structure 1 are arranged in an array 11. By way of example only, the array 11 shown in FIG. 1 is triangular.

[0090] Each sensor module 8 may itself be modularly composed of interchangeable components. For example, the geophysical sensor 10 may be housed in a geosensor module 12, shown here by way of example at a tail section of a sensor module 8.

[0091] In the configuration shown in FIG. 1, the sensor modules are of missile, droplet or torpedo shape, elongated along a flow direction 14, which is aligned with a longitudinal axis of a sensor module. The flow direction 14 is—except for small deviations about a stable flight position of the structure 1—antiparallel to a direction of flight 15 of the aircraft 2. Of course, during flight, the longitudinal axis 16 may deviate from the flow direction 14. Such deviations within the regime of stable flight conditions under tow are considered to still constitute an alignment.

[0092] In the structure 1, the sensor modules 8 are arranged with their longitudinal axes 16 parallel to one another.

[0093] At least some of the sensor modules 8 may be provided with an empennage module 18. The empennage module 18 may be placed between a fuselage module 20 of the sensor module 8 and the geosensor module 12. Alternatively, as shown in the lowest sensor module 8 in FIG. 1, the geosensor module 12 may be directly connected to the fuselage module 20 without interposition of an empennage module 18. The empennage module comprises one or more fins 19. The kit 2 may comprise sets of different fins 19, that may be exchanged with one another. Selecting an appropriate set of fins 19 allows to adapt the aerodynamic properties of the empennage modules 18 to the lay-out of the structure 1. Alternatively, the fins 19, or sets of different fins 19, may be mounted directly and interchangeably onto the fuselage module 20. In this case, an empennage module 18 is not necessary.

[0094] Each of the sensor modules 8 further comprises a tip module 22. Some of the sensor modules 8, for example in FIG. 1 the upper two sensor modules 8, may have different tip modules 22, e.g. a dummy module 22a than the other, lowest sensor module 8, which may comprise a tip module 22 which is configured as a main electronics module 22b. A tip module, such as the main electronics module 22b may be configured to house electric or electronic components 23. The main electronics module 22b may house one or more main electric or electronic components 23a that are needed only once within the entire structure 1, such as a geo-navigation sensor and/or communication electronics, such as WLAN, Bluetooth, radio or other sender/receivers, and/or an energy source, such as a battery, which supplies energy to all sensor modules 8 of the structure 1. The main electric or electronic components 23b may be used by the secondary sensor modules 8b. A dummy module 22a may serve aerodynamic properties, e.g. by comprising airflow guiding means such as the fins 19 at the tip and/or tail section

[0095] Instead of dummy module 22a, a secondary electronics module 22c may be used to house one or more secondary electric or electronic components 23b, such as a controller of the geophysical sensor of the respective sensor module 8, here a secondary sensor module 8b. The one or more secondary electric or electronic components 23b may be used only by the secondary sensor module 8b that carries these components 23b. The secondary electric or electronic components 23b in an array may be powered by the main electric or electronic components 23b. The secondary electric or electronic components 23b may be in a client relationship to the main electric or electronic components 23a.

[0096] All components or modules of the sensor module 8 are preferably interchangeable with one another, so that any permutation of modules can be used to assemble a sensor module 8.

[0097] The structure 1 further comprises a linkage assembly 24 which connects the at least two sensor modules 8 rigidly with one another at a distance 26 from one another.

[0098] As can be seen from FIG. 1, the linkage assembly 24 forms a linkage framework 28 that connects the sensor modules 8 to one another. In particular, the linkage assembly 24 may be a truss 29 or have a truss-like form. The sensor modules 8 may be located at nodes 30 of the linkage framework 28. The sensor modules 8, specifically the fuselage modules 20 may be configured to be load-bearing structures of the linkage framework 28.

[0099] The linkage framework 28 may be arranged in an upstream plane 32 and a downstream plane 34. The upstream plane 32 and the downstream plane 34 may extend perpendicular to the flight direction. The upstream plane 32 and the downstream plane 34 of the linkage framework 28 may be connected by the sensor modules 8, in particular by the fuselage modules 20.

[0100] The linkage framework 28 may be comprised of one or more rod assemblies 36 which are assembled from linkage rods 38. The linkage rods 38 may be made from carbon fiber and be hollow. The linkage rods 38 extend transversely to the flow direction 14. They may have a cylindrical or aerodynamic cross-section. The linkage rods 38 can be of any length and can thus be a way to scale the system up or down.

[0101] The sensor modules 8 may comprise a joint 40. The joint 40 may be configured to be connected to any desired number of linkage rods.

[0102] The structure 1 of FIG. 1 has a triangular configuration in a projection along the flow direction 14. Thus, two linkage rods 38 are connected to one another and to a sensor module 8 by a joint 40.

[0103] The linkage assembly 24, in particular the linkage rods 38, or at least some of the linkage rods 38, may be configured to receive in their interior (not shown), electric lines for power and/or signal transmission between the various sensor modules 8.

[0104] In the structure 1 of FIG. 1, the sensor module 8 comprising the communications module 22b is a central or “mother” sensor module 8a as it houses the communication interface to the processing site. The two remaining sensor modules or, for that matter, any remaining sensor module 8, may be a secondary, client or “daughter” sensor module 8b, which communicates only with the central sensor module 8a. Thus, the communication structure is also modular in that any number of secondary sensor modules 8b may be added in whatever physical structure to an existing central sensor module 8a. The triangular structure of FIG. 1 may be considered as a basic, modular building block for composing more complex structures 1 comprising a larger number of sensor modules 8.

[0105] For example, as shown in FIG. 2, the structure 1 may comprise five sensor modules 8, of which four are secondary modules 8b and one is a central sensor module 8a. The entire structure 1 is formed as a linkage framework 28 or, more specifically, as a truss 29, composed of triangular panels or truss units 46. The entire truss 29 or linkage framework 28 and each of the panels 46 may frame an upstream plane 32 and a downstream plane 34. As in FIG. 1, the upstream plane 32 may be framed by upstream rods 48, whereas a downstream plane 34 may be framed by downstream rods 50. In at least some panels, diagonal rods 52 may be provided that extend diagonally and transverse to the flow direction 14 between an upstream rod 48 and the downstream rod 50 located downstream of the upstream rod 48. In particular, a diagonal rod or tension cable 52 may extend between an end 54 of an upstream rod 48 to the end 54 of a downstream rod 50, the two ends 54 being located at two different sensor modules 8. The diagonal rods or cables 52 may be connected to the same joint 40 as the upstream rods 48 and the downstream rods 50 or to separate joints 40, also located on the sensor modules 8.

[0106] The panels 46 of course do not need to be triangular, although a triangular configuration offers very high stiffness. Any polygonal configuration, such as tetragonal, pentagonal, hexagonal etc.

[0107] may be used. The diagonal rods 52 may be located at any position and in any numbers where necessary.

[0108] In FIG. 3, a structure 1 is shown, which, compared to the structure 1 of FIG. 2, comprises an additional secondary sensor module 8b by adding another truss unit or panel 46 at the bottom of the structure 1 of FIG. 2.

[0109] The triangular structure of the truss units 46 can be seen clearly in FIG. 4.

[0110] The structure 1 is aerodynamically stable in all embodiments. Aerodynamic stability may be reached in that the structure 1 is symmetric with respect to a plane of symmetry 56 that is, in operation of the structure 1, vertical and parallel to the flow of light direction 14. An aerodynamic center 58, i.e. the location, through which the aerodynamic forces acting on the structure 1 are directed and a center of gravity 60 of the structure 1 are located in the plane of symmetry 56 or at least as close as possible to the plane of symmetry 56. Further, the aerodynamic center 58 is preferably located above the center of gravity 60 (FIG. 4). Further, the aerodynamic center 58 may be located downstream of the center of gravity 60 as shown in FIG. 5, to increase aerodynamic stability. Further, the aerodynamic center 58 is preferably downstream of an instantaneous center of rotation 62.

[0111] The empennage modules 18 with their fins 19 are arranged such that the aerodynamic center 58 obtains the above-described location, e.g. by having appropriate fins 19. Additionally, tip modules also having fins may be provided. Further, interchangeable empennage modules, tip modules and/or joints 40 may be comprised by the kit 2, which each have a different drag coefficient. Increasing the drag, in particular at locations far away from the aerodynamic center 58 increases the dampening of any oscillations during flight.

[0112] Thus, empennage, tip and/or joint modules at locations of the structure 1, which are placed remote from the aerodynamic center 58 may have a larger effect than at locations of the structure 1 which are closer to the aerodynamic center 58. For example, as shown in FIGS. 1 to 3, it may be beneficial that the sensor module 8, which is located at the plane of symmetry 56 of the structure 1 does not comprise fins 19 or an empennage module 18. In FIGS. 1 to 3, this sensor module is, just by way of example, a center module 8a. Of course, a secondary module 8b may be located at this position as well.

[0113] The kit 2 comprises a linkage assembly 24, which may comprise at least two different configurations 64, 66. A first configuration 64 is shown e.g. in FIG. 1. In the first configuration 64, the at least two sensor modules 8 are spaced apart from another at the (first) distance 26. In a second configuration 66 shown for example in FIG. 2, the sensor modules 8 may be spaced apart from one another in a second distance 68, which is different from the first distance 26. In FIGS. 1 and 2, the second distance 68 is for example larger than the first distance 26. The first configuration 64 may be assumed by a first rod assembly 36, i.e. a first combination of linkage rods 38. The second configuration 66 may be assumed by a second rod assembly 38, i.e. a second combination of linkage rods 38. Alternatively or additionally, the second configuration 66 may differ from the first configuration 64 with respect to the number of sensor modules 8. This allows to adapt the structure 1 to a great variety of measurement applications.

[0114] The first and second configuration, 64, 66, may be provided in that the linkage assembly 24 comprises linkage rods 38 of different lengths. Thus, although the geometry of a truss panel or truss unit 46 may not change, its dimensions may be changed by using linkage rods 38 of different length. This allows to compose structures 1, in which the distance 26, 68 between the sensor modules is adapted fora specific measurement task e.g. for detection of structures within a certain range of dimensions.

[0115] The linkage rods 38 of the kit 2 may have a graduation in length that allows them to be used in more than one different configuration 64, 66. For example, the diagonal linkage rods 52 of a first configuration 64 may be used in a second configuration 66 as upstream or downstream rods 48, to arrange the sensor modules 8 at a larger distance from another.

[0116] FIGS. 1 to 4 demonstrate the scalability of the structure 1. The modular structure allows to add any number of sensor modules 8 and to locate the individual sensor modules at any individual distance from one another. Moreover, once a central sensor module 8a is present in the structure, only secondary sensor modules 8b need to be added.

[0117] The versatility of the structure 1 is further demonstrated with reference to FIG. 6, which is based on a truss 29 which has quadrangular panels 64 instead of triangular panels as in the previous figures. Again, the structure is1 is scalable by simply adding more panels, as shown in FIG. 7, where a second panel 46 with two more in particular secondary sensor modules has been added. Other than the different geometry of the truss, the kit and the components of the structures 1 of FIGS. 6 and 7 are the same as used for the structures in FIGS. 1 to 5.

[0118] The kit 2 may be configured for assembly of a linkage assembly 24 that is collapsible and/or the structure 1 may comprise a linkage assembly 24 that is collapsible. A collapsible version of the linkage assembly 24 is denoted with the reference numeral 24a in the following.

[0119] Preferably, the kit 2 contains interchangeable modules which are configured to be assembled as a collapsible linkage assembly 24a. The collapsible linkage assembly 24a preferably comprises modules, or assembled from modules, for example linkage rods 38 that can also be used to assemble non-collapsible linkage assemblies 24 as shown e.g. in the preceding Figures. Further, the collapsible linkage assembly 24a may be assembled using one or more joints 40 that can also be used to assemble non-collapsible linkage assemblies 24.

[0120] Examples of collapsible linkage assemblies 24a are now described with reference to FIGS. 8 to 11. The collapsible linkage assembly 24 may contain the same central sensor module 8a as the modular structure in FIGS. 1 to 7. First, the collapsible linkage assembly 24a of FIGS. 8 and 9 is described.

[0121] The collapsible linkage assembly 24a is configured to rigidly connect at least two sensor modules 8 at two different distances 26, 68 from one another. In the first configuration 64, shown in FIG. 9, the linkage assembly 24a is collapsed so that the sensor modules 8 are arranged from another in the first, smaller distance 26. The collapsible linkage assembly 24a may be formed by a collapsible rod assembly 36. This configuration may be used e.g. for transporting the structure 1. In the second configuration 66 shown in FIG. 8, the structure 1 may be ready for operation and the distance 68 between the sensor modules 8 is larger than at the second configuration.

[0122] A collapsible linkage assembly 24a may e.g. comprise a telescoping linkage rod 38 or a telescoping rod assembly 36, comprising a plurality of telescoping linkage rods 38 (not shown). Alternatively, an umbrella-like collapsible structure may be used. The collapsible linkage assembly 24a may comprise two or more linkage rods 38 that can be moved translationally and/or rotationally relative to one another. One end 54 of a linkage rod 28 may be connected to a joint 40 which may be slid along the longitudinal axis 16 of one sensor module 8.

[0123] A collapsible linkage assembly 24a may be particularly useful if small secondary sensor modules 8b are used which do not put much strain on the linkage assembly during flight.

[0124] With the modular configuration of the kit 2, such a small secondary sensor module may be assembled by mounting a geosensor module 12 directly to a tip module 22 and e.g. omitting the fuselage module 20 and the empennage module 18. The linkage rods 38 to be used in the collapsible linkage assembly 24a are preferably the same or of the same material that is used in the kit too for assembling the linkage assembly 24 or, in some instances, the truss 29.

[0125] In the case of a collapsing linkage assembly 24a, one sensor module 8, which may particularly be a central sensor module 8a, may be configured as a carrier module 8c which carries the remaining one or more sensor modules of the structure 1. Due to the modular structure of the kit 2, two or more carrier modules 8c may be connected with one another using the linkage assembly 24 shown in any one of FIGS. 1 to 5, e.g. configured as part of a truss 29.

[0126] Again, any power supply or data connection may take place via the linkage assembly 24, in particular via one of the linkage rods, as described above in the context of the truss 29.

[0127] A collapsible linkage assembly 24a may couple any number of sensor modules 8 to a carrier module 8c by arranging the sensor modules 8 around the carrier sensor module 8c in a peripheral direction 70 about the longitudinal axis 16 of the carrier sensor module 8c, as in an umbrella.

[0128] For example, as shown in FIGS. 10 and 11, three secondary sensor modules 8, 8b may be arranged evenly spaced from one another in the peripheral direction 70 around the longitudinal axis 16 of the carrier sensor module 8c. This structure may be assembled by using the same linkage rods 38 that are used for connecting one sensor module 8 to the carrier sensor module 8c as in FIGS. 8 and 9. However, a different joint 40 may be used and comprised by the kit 2, which joint provides the required number and location of attachment points for attaching more secondary sensor modules 8b via the respective collapsible linkage assembly 24a. At least one joint 40 may be configured to be slid along the carrier sensor module 8c, in particular along the fuselage module 20, and be fixed at any position along its path.

[0129] Except for the number of sensor modules 8 attached by the collapsible linkage assembly 24a to the carrier sensor module 8c, the function of the structure 1 made from the kit 2 shown in FIGS. 8 and 9 corresponds to the structure shown in FIGS. 8 and 9.

[0130] FIG. 12 shows an exemplary kit 2. The kit 2 comprises a variety of different modules 72 for assembling a sensor module 8 or a linkage assembly 24 in any of the aforementioned configurations.

[0131] For example, the kit 2 may comprise different fuselage modules 20 that may be used interchangeably for assembling a sensor module 8.

[0132] The kit 2 may comprise different tip modules 22 that may be used interchangeably to assemble a sensor module 8.

[0133] The kit 2 may comprise one or more empennage modules 72. The empennage module 72 may itself be of modular structure and comprise a fin attachment module, to which different fins 19 may be interchangeably mounted. Alternatively, the different empennage modules 72 may comprise different fins 19.

[0134] The different modules 72 of the kit 2 that are configured to be assembled to a sensor module 8 comprise complementary interfaces 76 which may include respective mechanicals and/or electric connectors. An interface 76 may be e.g. a downstream-facing interface 78 at a downstream end 80 of the respective module 72. The downstream end 80 is defined by the position of the respective module 72 in an assemble sensor module 8. For example, a tip module 22 only needs a downstream-facing interface 78, as a tip module 22 is configured to constitute the upstream end of the sensor module 8.

[0135] Modules 72 that are configured to be located in an assembled sensor module 8 between a module 72 at the upstream end 82 of the sensor module and the module 72 at the downstream end 84 of the sensor module 8 may also comprise an upstream facing interface 86 at their respective upstream ends 88. The upstream-facing interface 86 and the downstream-facing interface 78 may be complementary, e.g. by comprising complementary parts of a bayonet coupling, an outer thread and an inner thread or any other coupling, and/or by comprising complementary electric connectors. Each upstream-facing interface 86 may be attached to each downstream-facing interface 78. Alternatively, an adaptor 90 may be provided which is configured to connect any two modules 72 with one another. For example, such an adaptor may comprise two outer threads 92 that may be brought into engagement with respective inner threads of the modules 72.

[0136] Using any of the above configurations, a tip module 22 may be connected with any of an empennage module 18, a fuselage module 20 and a geosensor module 12. The geosensor module 12 may be connected with any of an empennage module 18, a tip module and a fuselage module

[0137] Thus, a sensor module 8 may be composed without using a fuselage module 20 and/or an empennage module 18.

[0138] The kit 2 may further comprise a linkage assembly 24 as e.g. described in the context of FIGS. 1 to 11. The linkage assembly 24 may also be modular and also comprise modules 72, e.g. linkage rods 38 of different lengths. The linkage rods 38 may be the basic component to compose a linkage assembly either as a collapsible linkage assembly 24 as shown in FIGS. 8 to 11 or as stationary linkage assembly 24 as shown in FIGS. 1 to 7.

[0139] The linkage rods 38 comprise preferably identical mounting interfaces 94 at both their ends, so that they can be used interchangeably to allow composition of linkage assemblies 24 in at least two different configurations 64, 66.

[0140] Finally, the kit 72 may comprise joints 40 of different configurations, which may also be used interchangeably. The joints 40 are configured to connect one or more linkage rods 38 to a sensor module 8, in particular to a fuselage section 20.

[0141] The kit may for example comprise at least one joint 40 that is configured to couple two linkage rods 36 allowing a rotational movement of the two rods relative to one another. The kit 2 may comprise at least one joint that is configured to be mounted onto a fuselage module 20 or that may be used interchangeably with a fuselage module 20, e.g. by having interfaces such as upstream and downstream facing interfaces 76, 78, 88. The kit may comprise at least one joint 40 that is configured to be mounted on and along a fuselage module 20.

[0142] For example, a joining 40 may comprise a ring or ring-like component 96, which is configured to be attached to one or more attachment points 98, which themselves are configured to be attached to a linkage rod 38. By choosing the appropriate number and location of attachment parts 98 on a ring 96, the geometry of a truss 28 may be selected. The ring and the attachment parts 98 may comprise one or more baffle surfaces 100 which are oriented perpendicular to the flow direction 14 in the structure 1 in operation. The baffle surfaces 100 generate drag and thus ensure damping of any positional oscillation of the structure 1 during flight.

REFERENCE NUMERALS

[0143] 1. structure [0144] 2. kit [0145] 3 aircraft [0146] 4. towing member [0147] 6. tow anchor [0148] 8. sensor module [0149] 8a. central sensor module [0150] 8b. secondary sensor module [0151] 8c. carrier sensor module [0152] 10. geophysical sensor [0153] 11. array [0154] 12. geosensor module [0155] 14. flow direction [0156] 15. direction of flight [0157] 16. longitudinal axis of sensor module [0158] 18. empennage module [0159] 19 fin [0160] 20. fuselage module [0161] 22. tip module [0162] 22a. dummy module [0163] 22b. central electronics module [0164] 22c. secondary electronics module [0165] 23. electric or electronic component(s) [0166] 23a. main electric or electronic component(s) [0167] 23a. secondary electric or electronic component(s) [0168] 24. linkage assembly [0169] 24a collapsible linkage assembly [0170] 26. distance between adjacent sensor modules [0171] 28. linkage framework [0172] 29. truss [0173] 30. node of linkage framework or truss [0174] 32. upstream plane of linkage framework or truss [0175] 34. downstream plane of linkage framework of truss [0176] 36. rod assembly [0177] 38. linkage rod [0178] 40. joint [0179] 46. panel of truss or truss unit [0180] 48. upstream rod [0181] 50. downstream rod [0182] 52. diagonal rod [0183] 54. end of rod [0184] 56. vertical plane of symmetry of structure [0185] 58. aerodynamic center of structure [0186] 60. center of gravity of structure [0187] 62. center of rotation of structure [0188] 64. first configuration [0189] 66. second configuration [0190] 68. second distance between adjacent sensor modules [0191] 70. peripheral direction [0192] 72. modules of kit [0193] 74. fin attachment module [0194] 76. interface [0195] 78. downstream-facing interface [0196] 80. downstream end of a module [0197] 82. upstream end of sensor module [0198] 84. downstream end of sensor module [0199] 86. upstream-facing interface [0200] 88. upstream end of module [0201] 90. adaptor to connect modules [0202] 92. outer thread section [0203] 94. mounting interface of linkage assembly [0204] 96. ring [0205] 98. attachment point [0206] 100. baffle surface