| Fine particulate matter (PM2.5) | µg/m³ | An onboard optical particle sensor estimates particle concentration from light scattered by airborne particles drawn into its inlet. | Time-stamped readings are paired with GPS coordinates and altitude to display concentrations along the flight path or across a gridded area. | Humidity, inlet design, and airflow can affect readings; comparison with a reference monitor may be needed. |
| Coarse particulate matter (PM10) | µg/m³ | A compatible particle sensor estimates the concentration of particles in the PM10 size fraction. | Measurements can be shown as route points, altitude profiles, or interpolated concentration surfaces. | PM10 includes PM2.5, so the two measurements are related and should not be added together. |
| Nitrogen dioxide (NO₂) | ppb or µg/m³ | A suitable electrochemical or other gas sensor samples air through a protected inlet during flight. | Georeferenced readings can highlight spatial patterns near roads or other monitored areas. | Sensor response time, cross-sensitivity, and calibration influence data quality. |
| Ozone (O₃) | ppb or µg/m³ | A gas-sensing module measures ozone in air drawn through its inlet. | Readings can be mapped by location and altitude to show changes across a survey area. | Sunlight and atmospheric conditions affect ozone levels; the sensor must be appropriate for the intended concentration range. |
| Carbon monoxide (CO) | ppm or mg/m³ | A compatible gas sensor records CO concentration while the drone follows a planned route. | Each reading is matched to its position and time to create a route-based concentration layer. | Sensor range and detection limit should match the expected ambient levels. |
| Temperature and relative humidity | °C and % RH | Compact meteorological sensors measure local conditions alongside pollutant readings. | These measurements can be mapped as supporting layers or used to interpret variations in pollutant data. | Heat from the aircraft or electronics can influence measurements if sensors are poorly positioned. |
| Position, altitude, and time | Latitude/longitude, m, timestamp | GNSS and flight logs record where and when measurements are taken; altitude is recorded relative to the selected reference. | These records locate readings on a map and allow comparison between flight paths or altitude bands. | GNSS accuracy, altitude reference, and clock synchronization affect alignment of the data layers. |
| Mapped air-quality output | Concentration by location and time | Recorded sensor data are quality-checked, aligned with flight logs, and associated with their measurement units. | Software can display points, flight-path charts, altitude profiles, or interpolated maps, with a legend and sampling-time information. | Interpolated maps estimate conditions between measurements; they are not direct measurements at every point. |