Aiming at the problem that the existing manual sampling and ground monitoring stations in air pollution monitoring can not deal with the vertical distribution and regional concentration of pollutants

a three-dimensional air environment monitoring system based on unmanned aerial vehicle（ UAV） is designed. The monitoring terminal can acquire the concentration of multi-parameter atmospheric environmental pollutants

it is installed in flexible and mobile UAV to monitor atmospheric environmental pollutants continuously at different points. In order to facilitate the stereo analysis of atmospheric environmental pollution

the data fusion between GPS module and air pressure sensor is carried out by two-step delay time fusion algorithm and extended Kalman filtering algorithm to ensure the accuracy of stereo positioning information of points in the monitoring system. Experiments show that the designed system has stable performance and high precision. It can meet the requirements of stereo monitoring of atmospheric environment by complementing the existing ground monitoring network.