Nowadays, Earth is being affected by the greenhouse effect. A first step to improve the current situation is to track the involved variables under temporal and spatial sampling. In this paper, we propose an integrated system for monitoring the related greenhouse effect gasses and several environmental variables. The system has been designed to be mounted on an unmanned aerial vehicle to overcome the spatial constraints and it also has been designed to work under the Internet of Things paradigm to overcome the temporal constraints. Unlike previous approaches, we have integrated an optimal filtering step with Kalman Filter, improving the reliability and precision of the measurements. Our experiments show that the proposed system can provide the information to the final user in near real-time. In addition, the use of the Kalman filter decreases the mean square error of our system with respect to a reference sensor.

中文翻译：

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在无人机上使用嵌入式系统进行环境监测

如今，地球正受到温室效应的影响。改善现状的第一步是在时间和空间采样下跟踪所涉及的变量。在本文中，我们提出了一个用于监测相关温室效应气体和几个环境变量的集成系统。该系统被设计为安装在无人机上以克服空间限制，它也被设计为在物联网范式下工作以克服时间限制。与以前的方法不同，我们将最佳滤波步骤与卡尔曼滤波器集成在一起，提高了测量的可靠性和精度。我们的实验表明，所提出的系统可以近乎实时地向最终用户提供信息。此外，