Architecture of a UAV for volcanic gas sampling

This paper describes the architecture of a UAV designed to study the composition of gas inside volcanic plumes. The main aim of the system is that of flying inside the plume (volcanic cloud) to directly analyze the concentration of the main components of the fumes. The system must be capable of flying autonomously at up to 4000m altitude with a payload of 5Kg using electric motors, to avoid contaminations with the gas sampling system, at a cruise speed of 40km/h. The complete architecture is presented together with the HMI: this can be used both for path planning and for navigation