Implementation of an Environmental Monitoring System Using Autonomous Unmanned Vehicles

Abstract

This paper presents the design and implementation of an autonomous environmental monitoring platform based on an unmanned aerial vehicle equipped with a Pixhawk 6C flight controller and a dual ESP32 architecture. The onboard ESP32 functions as a dedicated sensing module that interfaces with MQ-2, MQ-9, and MQ-135 gas sensors to estimate pollutant levels associated with combustion and urban activity. A second ESP32 located at the ground station records the data received via a Wi-Fi link. Processed measurements are simultaneously transmitted to the Pixhawk through custom MAVLink messages, providing a redundant communication channel when Wi-Fi coverage degrades. The integrated system supports automated waypoint missions, modular power distribution, and real-time telemetry, enabling repeatable data-collection flights over predefined survey areas without manual piloting. Field tests were conducted in Caguas and Juncos, Puerto Rico, to compare environmental conditions in two urban regions with differing levels of population density and vehicular activity. Results demonstrate that the platform provides a scalable low-cost method for geo-referenced environmental monitoring using open-source hardware suitable for multi-vehicle deployments.