Abstract
A serious factor that limits the environmental applications of drones is the disturbance of the air pollution concentration field by the drone propulsion system. This work presents a gas-sensing drone offering measurements that are unaffected by this phenomenon. The novel development was based on the idea that, during measurements, the sensing device should be spatially separated from a zone influenced by the drone's rotors. To attain this goal, special equipment was designed that allows one to undock and lower the sensing device for measurement, lift it and dock for flight. The field experiments demonstrated the full functionality of the developed system and its superiority compared to a sensing platform mounted at the bottom of the drone. Higher measurement sensitivity and resolution were attained by lowering the sensing platform to the measurement point. This solution minimizes the rotor flow effect, ground effect, and pollution concentration field flattening. The test in real conditions confirmed that the designed construction assures drone stability. The presented technology may be an important step in developing effective mobile measurement tools that allow one to reach poorly accessible or dangerous places and perform measurements at a low cost and with high efficiency.