Automatic Take Off and Landing (ATOL) Towards Internet of Drone Things for Air Quality Measurement

Making sure the air quality is within a healthy level is one facet of a Smart City. Thus, it is necessary to measure the air quality continuously and in real-time. The fact that air quality sensors are frequently placed adjacent to sources of pollution, such as areas where people are waiting for public transportation, is one of the disadvantages of putting them in many Indonesian cities. Because of this, even though the area a few tens of meters around the air quality sensor is truly in good condition, the results of the air quality measurement are recorded as being in the unhealthy range. This is the reason this research attempts to provide a five-meter-altitude above-ground air quality measurement method. This measurement makes use of a quadcopter drone, as part of the Internet of Drone Things, that has Pixhawk, Mission Planner, GPS (Global Positioning System), Telemetry, and Computer, capability for ATOL (Automatic Take Off and Landing). According to the test results, the quadcopter drone could take off and land autonomously with a 45-centimeter distance difference. The accuracy at 3 meters height is 9.5 centimeters, and at 5 meters height is 6.9 centimeters. The average discrepancy in coordinates between the GPS and Google Maps at the takeoff and landing positions is 2.95 meters.