International Journal of Scientific Research in Environmental Sciences, 2(12), pp.

435-448, 2014
Available online at http://www.ijsrpub.com/ijsres
ISSN: 2322-4983; 2014; Author(s) retain the copyright of this article
http://dx.doi.org/10.12983/ijsres-2014-p0435-0448

Full Length Research Paper

GIS-Based Air Pollution Monitoring using Static Stations and Mobile Sensor in
Tehran/Iran
Hassan Hamraz1, Abolghasem Sadeghi-Niaraki*1, 2, Mehrnoosh Omati1, Negar Noori1
1

GIS Dept., Geoinformation Technology Center of Excellence, Faculty of Geodesy & Geomatics Eng., K.N. Toosi University
of Technology, Tehran, Iran.
2
Dept. of Geo-Informatic Eng., Inha University, South Korea
*Corresponding Author: Phone (+9821-88877070); Email: a.sadeghi@kntu.ac.ir
Received 06 October 2014; Accepted 23 November 2014

Abstract. Air pollution is a major problem in mega cities and its harmful for environment and human health. Usually in
nowadays, air pollution is monitored by static stations networks and because of high cost of developing and maintenance the
amount of these stations is limited. Air pollution is strongly dependent to location and its vary from one to another, therefore
less static stations cause poor spatial resolution in published pollution maps. This research paper is for generating a pollution
map with higher spatial resolution according to mobile measurements through Mobile Data Acquisition Unit (MDAU) and
Tehran Environmental Protection Agencys measurements. Mobile unit box used for this study is equipped with: handheld
GPS, MQ 9 gas sensor (CO detector), Seeeduino Stalker microcontroller and Xbee Bluetooth module, and it was placed on top
of a vehicle and the datas were collected in Hemat highway, Tehran/Iran during 15:00 to 16:00 hours, afterwards Mobile and
static stations measurements were imported and aggregated in GIS environment to generate an air pollution map through Geostatistical Analysis. Finally, CO pollution map was validated and compared with pollution map produced via Tehran Air
Quality Control Companys data.
Keywords: Air pollution, Gas sensor, GIS, Geostatistics

pollutants with low-cost gas sensors. Most of these

sensors are showing electrochemical reaction when
they are exposed to certain gases and through these
sensors gas concentration obtains. These sensors are
small, low-cost, portable and can be assembled almost
everywhere for sending datas, therefore these sensors
can be used as an air pollution measurement nodes on
vehicles and etc. they collect large amount of data
from different places and the result is pollution maps
with high spatial resolution.
Studies for air pollution monitoring by using lowcost gas sensor system assembling in recent years are
growing. In (Ikram et al., 2012) an air pollution
monitoring system was developed. This system used a
set of low-cost electrochemical gas sensor equipped
with solar panel for measuring pollutants, temperature
and humidity. The measured preliminary data was
sent to a server through GSM modem and the server
publishes pollution map after completing analysis and
interpolation. In (Vlgyesi et al., 2008) a mobile air
quality monitoring network is presented. This system
was equipped with gas sensors node mounted on a
vehicle for measuring pollutants concentration. The
measurements were sent to the server while the nodes

1. INTRODUCTION
Air pollution in result of industrialization,
urbanization growing and etc. is a major problem for
mega cities. Factories and vehicles are one of the most
important factors in air pollution around the world.
Vehicles are the main source of Carbon Monoxide
(CO). CO is a harmful gas with no colour and odour
and cant be detected by human senses because of no
taste and smell, and it effects on our health.
Nowadays, air pollution is monitored through static
stations, their efficiency is high and can accurately
measure wide range of pollutants but they have
limitations such as: high costs in accommodation,
developing and maintenance, therefore the small
number of static stations cause limited spatial
resolution in published pollution maps. Air pollution
is strongly dependent to location and its vary from
one to another therefore the pollutant concentrations
near these stations are accurate and the accuracy and
reliability decreases as the distance increases. These
limitations cause movements towards new generation
of air pollution sensors. In recent years, lots of
research groups start to measure electrochemical

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GIS-Based Air Pollution Monitoring using Static Stations and Mobile Sensor in Tehran/Iran

are in designed WIFI network coverage and the server

analysis the data and publish them. In (Al-Ali et
al.,2010) an online GPRS-sensor array for air
pollution monitoring was designed. This system
includes mobile data acquisition unit and internet
pollution monitoring server. The mobile unit is
equipped with gas sensors which measure pollutants
level and sends them to a server with time and
location via GSM modem. The server makes real-time
accessibility to the datas for the internet users.
P-sense (Mendez et al., 2011) is a monitoring and
controlling system for air pollution. In this system
sensing nodes are mobile phones equipped with GPS
and gas sensor. The gas sensor linked to the mobile
phone via Bluetooth connection. Each node senses the
datas and sends them to the server. Users can see
variables of interests in real time by sending a request
to the server. In (Tudose et al., 2011) a mobile system
for air quality and pollution measurement suitable for
urban areas is presented. This system includes gas
sensors that are mounted on vehicles. The pollutants
measurement is provided for the driver through a
dashboard display and its also sent to a web server
via GSM link. The datas are published on the internet
through web services and users can access to them at
any time and place as they desire. Open Sense (Li et
al., 2012) is a dataset of mobile air quality
measurements in Zurich. This system has two types of
stations. Mobile stations equipped with gas sensor on
top of trams and static gas sensor stations next to
national air pollution monitoring network for long
term sensor testing. In (Hasenfratz et al.,, 2012) a
participatory air pollution monitoring system using
smartphones and gas sensors is represented. The
sensor was mounted on a bicycle and took
measurements from different bicycle rides all around
the city. N-smarts (Honicky et al., 2008) is a project
that attach gas sensor to GPS-enabled cell phones to
gather raw data about urban air pollution.
(Devarakonda et al., 2013) presented a real-time air
quality monitoring system through mobile sensing in
metropolitan areas. It has two mobile sensing models;
first for deployment on public transportation
Infrastructure such as buses and second for relies on
air quality aware drivers whom installed personal
sensing devices in their cars. The sensing models
measure the concentration of pollutants with gas
sensors and send them via cellular data link to the
cloud server. In (Pummakarnchana et al., 2005) an air
pollution monitoring and GIS modelling system is
represented. Gas sensor integrated with Personal Data
Assistant (PDA) and wireless GIS is used for air
pollution monitoring over a wide area.
This research paper is about using the potential of
low cost gas sensors to increase measurements spatial

resolution thereby complementing existing relatively

sparse static stations. A pollution map is generated
with higher spatial resolution according to mobile
measurements through Mobile Data Acquisition Unit
(MDAU) and Tehran Environmental Protection
Agencys. Furthermore, GIS capabilities are used for
analysing data and generate pollution map.
2. MATERIALS AND METHODS
Nowadays, air pollution is monitored through static
stations. These stations have limitations. Besides
pollutants concentration is highly location-dependent,
so accuracy and reliability decrease as distance
increases .Due to limited number of static stations and
lack of proper distribution, the result of published
pollution maps have poor spatial resolution. In this
paper we want to get air pollution datas from
different locations to generate pollution maps with
higher spatial resolution. For this purpose, at first
preliminary studies were completed to design Mobile
Data Acquisition Unit for collecting mobile air
pollution data, then TEPA (Tehran Environmental
Protection Agency) air pollution measurements were
gotten to calibrate gas sensor and generate pollution
map, afterwards the MDAU and TEPA datas were
imported and aggregated in GIS environment and with
the help of Geostatistics in ARCGIS 10 CO
concentration maps was generated. Finally, the results
were evaluated with Tehran Air Qulaity Control
Companys data. Fig.3 shows an overview of
methodology.
2.1. Mobile Data Acuisition Unit
Mobile data acquisition unit (MDAU) was designed
for collecting data from different locations. MDAU
box is equipped with: handheld GPS and laptop,
seeeduino
stalker
board,
ATmega328
P
microcontroller, 3.7 V battery, XBEE BLUETOOTH,
potentiometer, capacitor and MQ-9 carbon monoxide
gas sensor. (See Fig.2)
2.1.1. Potentiometer
Gas sensors show varied reactions in different
temperatures and causes interrupts in sensors
performance, a calibration for avoiding this matter is
necessary and to obtain correct functioning a 10K
potentiometer is used for MQ 9 gas sensor in order to
calibrate gas sensor in different temperature
conditions. Potentiometer acts as a variable resistor.
For minimizing errors and reducing effective source
impedance a capacitor is in use.

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Fig. 1: Overview of methodology

Fig. 2: Components of designed box

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GIS-Based Air Pollution Monitoring using Static Stations and Mobile Sensor in Tehran/Iran

Fig. 3: Calibration procedure

Fig. 4: MDAU measurements and Tehran Environmental Protection agencys monitoring stations

types: heating semiconductor, non-dispersive infrared

(NDIR) and light emitting diode (LED). Size,
accuracy and power consumption of gas sensors are
related to their types (Choi et al., 2009). MQ_9 gas
sensor that was used in this study is semiconductor
type. This sensor has high sensitivity to carbon

2.1.2. GAS Sensor

Portable gas sensors are used to detect toxic gases.
There are wide varieties of gas sensors that each one
has different operational principles. They can be
classified according operational characteristic in three

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monoxide (CO) and detect CO gas in low

temperature.MQ-9
sensor
evaluates
gas
concentrations
by
measuring
the
electrical
conductivity of a sensitive layer such as tin

dioxide(sno2).with CO molecules absorption by this

metal-oxide,
sensor
conductivity
(resistance)
changes. Table1 shows some sensor specification.

Fig. 5: CO Histogram

Fig. 6: CO Normal QQ Plot

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GIS-Based Air Pollution Monitoring using Static Stations and Mobile Sensor in Tehran/Iran

converts analogue signal to digital. CO concentration

is usually describes as parts per million
(PPM).microcontroller was programmed with AVR In
order to convert MQ 9 output resistance to PPM
according to MQ 9 datasheet. Microcontroller sends
sensor measurements through XBEE BLUETOOTH
to the laptop. The connection between XBEE
BLUETOTH and laptop is established via
HyperTerminal. HyperTerminal continuously shows
sensor measurements on laptop.

2.1.3. Microcontroller
In this study, ATmega328 P microcontroller is used. It
is in class of AVR microcontrollers. Programming in
mega IC was written with BASIC language in
BASCOM environment. Since gas sensors are
analogue in nature and have output resistance,
therefore an ADC (ANALOGUE DIGITAL
CONVERTER) port is embedded and used for
interfacing between microcontroller and gas sensor, it

SENSOR
MQ-9

Table1: Sensor specification

TYPE
SENSITIVITY
RANGE
SEMI
CONDUCTOR

CO

POWER

20-2000
PPM

1.4V

Table2: TEPA monitoring stations data

ID

Station name

CO(ppm)

1
2
3
4
5
6
7
8
9

Elmo Sanat University

Razi park
Shahid beheshti University
Pasdaran
Shokoofe
Shahrak cheshmeh
Shahrdari Mantaghe 15
Tehran University
Shahre rey

51.51143
51.38939
51.39514
51.47336
51.45076
51.26075
51.47996
51.39776
51.42769

35.73981
35.67016
35.80338
35.78966
35.68574
35.75079
35.64108
35.70336
35.59301

0.83
1.83
1.62
0.78
2.1
1.47
0.96
1.81
4.45

Table 3: TEPA monitoring stations data

ID
X
Y
CO(ppm)
80 51.49031 35.75839 2.020202
81 51.49252 35.75879 1.010101
82 51.49388 35.75891 2.020202
83 51.49717 35.75884 1.010101
84 51.51012 35.75748 1.010101
85 51.5155
35.75496 1.010101
86 51.52115 35.75327 1.010101
87 51.5236
35.75292 2.020202
88 5152556 35.75269 1.010101
Table 4: parameter value for stable model
NUGGET
RANGE
PARTIAL SILL
0.1473352

0.0023022

0.7021622

calibrated in laboratory and in comparison to

generated gas mixture (Choi et al., 2009). Second,
Field calibration that in this approach, sensor is placed
near reference stations with high quality concentration
measurements (Kamionka et al., 2006). In this study, a
second approach was selected to improve data quality
that gathered by MQ 9 gas sensors because in this way
sensor performance can be observed under real

2.2. Gas Sensor Calibration

The main problem with gas sensors are their low
accuracy and stability. Therefore calibration
techniques are required to increase their accuracy.
There are two common ways for calibration of gas
sensors in purpose of urban air pollution monitoring.
First, laboratory calibration which gas sensors are

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(*) 1=Standard deviation of Reference station

readings
(*) 2=Mean of Gas sensor readings
(*) 2=Standard deviation of Gas sensor readings
=1/2
(1)
=1-(2*)
(2)
Calibrated reading=*(un-calibrated reading) + (3)

conditions and in presence of other gases. MQ_9

sensor was calibrated via ENVIRO S_A sensor
(Tehran Environmental Protection Agencys station).
Calibration procedure is shown in Fig.3. For
calibration, both data sets are performed to calculate
the mean and standard deviation of readings from the
MQ_9 and S_A sensor as follows (Ikram et al., 2012)
(*) 1=Mean of Reference station readings

Fig. 7: Trend Analysis of Co data

2.3. Study Area

method for predicting values associated with spatial
phenomena is very important. Therefore, one of the
most common methods for predicting pollutant
concentrations is Geostatistic. It is kind of statistic
that consist of different technique for modeling
regional variations and spatial analysis. Geostatistical
tools qualify spatial connection between observed
values and estimates reliable value for not measured
points from neighboring samples(Bohling, 2005;
Garca, Gonzlez and Rodrguez, 2008). Preparation
of pollution map is possible if spatial correlation
between pollutant concentrations is known.
Determining spatial pattern of variables is done with
estimating non-sampled location value based on
sampled points (Interpolation) (Garca et al., 2008).
Geostatistical methods like kriging has several
advantages over deterministic methods like
IDW(Inverse Distance Weighting) and Spline(Isaaks
and Srivastava, 1989; Li and Australia, 2008).Many
studies have shown better results for Geoestatisticla
methods like kriging in comparison to deterministic
techniques like IDW and spline (i.e Horlek et al.,
2007; Wang and Zhang, 2012). There are different
methods in Geostatistic for understanding spatial
correlation and map generation. The best method is
kriging (spatial regression) especially for CO
concentrations. It gives the best unbiased prediction
with minimum variance at each location and consider

Tehran is a city with population over 10 million and

its located on 51 to 5140 E longitudes and 3530
to 3551 N latitudes, with industrial zones and heavy
traffic two worst factors in air pollution , therefore its
the most polluted city of Iran. There are 17 monitoring
stations across Tehran which are operated by TEPA
but only 9 of them measures CO pollutant
concentration correctly .These stations collect data
from different parts of the city and archive them daily.
these stations do not have proper location distribution
in the city, therefore MDAU was used to have the
mobile observations and the 90 samples points with
geographic coordinates during 15:00 to 16:00 hours
(rush hour starting time) from Hemat highway (one of
the most important and high-traffic roads in Tehran
that connect west to east) at 9th July 2014 (as a sample
of work day) were collected and added to TEPAs
static stations measurements. Fig.4 represents MDAU
measurements and Tehran Environmental Protection
Agencys monitoring stations.
2.4. Geostatistical Analysis
After collecting CO concentrations data, spatial
distribution of this pollutant in experimental area
should be analysed and CO level on non-sampled
locations should be estimated. Selecting optimal

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GIS-Based Air Pollution Monitoring using Static Stations and Mobile Sensor in Tehran/Iran

spatial correlation between data at different locations.

It also provides information on interpolation errors.
Kriging has various forms. In pollution applications,
ordinary kriging method is used for estimation of
variability and predicting pollutants (Pang et al., 2010;
Pope and Wu, 2013; Song, 2008). A structured
process based on (Garca et al., 2008) was followed to
generate CO concentrations map with Geostatistics:
1) Exploratory analysis of data. Its for checking
data consistency, identifying statistical distribution
and Trend of data. Normal QQ plot and histogram can
be used to check normality of data. Trend analysis
enables identifying presence or absence of trends in
the input dataset.
2) Structural Analysis of data. It is used to analyse
spatial
distribution
of
variables.
Spatial
autocorrelation between measured sample points can
be quantified with semivariogram /covariance clouds.
The variogram represent degradation of spatial
correlation between pairs of points when the
separation distance increases. After defining
experimental variogram, a model should fit to the
points. The fitted model provides information about
spatial connection for kriging interpolation.
3) Prediction. With the aid of geostatistics, values
for non-sampled locations can be estimated that
consider spatial distribution pattern and integrating
and trends. There are lots of geostatistics methods for
interpolation but the best one is Kriging that in
addition of estimated value gives variance, or its
square root, the kriging standard deviation for each
location. In this study ordinary kriging was used. This
method considers the mean fluctuates locally. before
generating the final map cross validation were used to
validate the accuracy of all interpolations .In the
phase, the value is estimated at each location with the
remaining data and after calculation between
estimated and actual value for all data points and with
computation some statistics are tested that how well
values at unknown locations are predicted by the fitted
model.
The Geostatistical Analysis includes all above
process that was done with Geostatistical Analysis
extension in ArcGIS (version 10) and finally CO
predictions map is generated.

monitoring station (operated by TEPA) for calibration

and improving accuracy as described above.
Afterwards the data with MDAU were collected in the
afternoon from Hemat Highway in Tehran. Finally, 90
sample points were collected via MDAU. Table 2
shows TEPA monitoring stations data and table 3 is
an example of MDAU measurements.
3.1. Exploratory Analysis of Data
Histogram and QQ plot are useful tools for checking
distribution and normality of data. Although normality
is not necessary for Kriging, but normality causes
better estimates. In Histogram depicted in the Fig.5
mean and median values are approximately the same
and SKEWNESS value is app. zero, these are normal
distribution signs. Figure 5 shows histogram for CO
samples. In Normal QQ plot as shows in Fig.6, the
closer points to the straight line (45 degree) follows
normal distribution.
If Tend exists in our data, it is deterministic
component and can be represented by mathematical
formula. Fig.7 shows Trend Analysis of CO data. It
shows while we rotate points, trends always exist as a
downside-up U-shape. This trend should be removed
in prediction step with second order polynomial.
3.2. Structural Analysis of Data
Figure 8 represents directional semivariogram and
model of CO. Semivariogram/covariance modelling
determines the best choice of a variogram model that
fit to sample points. In this study, stable model is the
most suitable with associated parameter value in table
4.
Also direction semivariogram is used to explore
the different direction influence on the data and define
acceptable direction variogram. At different locations,
the highest correlation of data points with their
neighbors occur when CO values are shifted westeast. This shift is in direction and distance that
calculated cross-covariance is at its max value. After
specifying SEMIVARIOGRAM model fitted and
number of points neighbouring with different weight
for predicting values at unmeasured locations, cross
validation determinates that which model provides the
most accurate estimations and assesses validity of
prediction errors. As can be seen in Figure9 mean
error close to zero that is indicate unbiased prediction
and root-mean-square standardized error close to 1
that shows standard errors are accurate. Also at QQ
plot tab is seen that most points are close to straight
line and indicate that prediction errors are close to
normal distribution. Fig.10 provides summary of
model information that was used to create surface.

3. RESULTS AND DISCUSSIONS

TEPA has 17 air pollution monitoring stations; among
these stations only 9 of them sense CO correctly and
with this few numbers of station pollution maps are
generated with poor resolution. Therefore MDAU was
designed to cover up this problem with minimum
budget. Before collecting data with MADU in the city,
the unit was placed near University of Tehran

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(a)
(b)
Fig. 8: a) South-North semi-variogram of CO. b) West-east semivariogram CO

3.3. Prediction

3.4. Evaluation

Finally, Figure 11 shows predicted CO map using an

Ordinary KRIGING model in Tehran between 3-4
PM. By means of prediction standard error surface
can be quantified the uncertainty for each location. As
is seen in figure 12, locations near static stations and
sample points have lower error and with increasing
distance from these points, we see more error values.
In other words, mobile measurements reduce
prediction errors and causes increasing in spatial
resolution.

Tehran Air Quality Control Companys data is used to

validate our results. Fig.13 shows CO concentration
map generated from those data. As can be seen in
Fig.11 and Fig.13, they are similar to each other and
have similar results and both have more CO
concentrations in west of Tehran but fig.11 is more
detailed. So high spatial resolution maps can be
generated with minimum budget with the aid of
systems proposed in this research. As regards vehicles
is the main source of CO pollutant. It is expected that
high CO concentrations usually are in areas that traffic
is more intense. In the evening traffic follow are
heavy from west to east in Tehran. This factor causes
more CO and pollution in west of Tehran.

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GIS-Based Air Pollution Monitoring using Static Stations and Mobile Sensor in Tehran/Iran

Fig. 9: Prediction errors and normal QQ plot

Fig. 10: Summary of model information

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Fig. 11: Predicted CO map (scale:1/250000)

Fig. 12: Prediction standard error surface

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GIS-Based Air Pollution Monitoring using Static Stations and Mobile Sensor in Tehran/Iran

collected with TEPAs data in GIS environment and

with the help of Geostatistics Analysis in ARCGIS 10,
CO concentrations map were generated with higher
spatial resolution. High resolution map and more
detailed data can help regulations and people to make
better decision based on these data. Because of some
limitations, only one mobile data acquisition unit and
only one sensor was used, better results can be
obtained with more data acquisition unit through
different path. It is recommended to add bidirectional
GSM/GPRS links to mobile data acquisition unit for
having real-time data in order to have a web-based
client-server system with GIS capabilities can be
future researches.

4. CONCLUSION
Air pollution has many harmful effects, so it is
necessary to have pollution maps with higher
resolution to act appropriate actions based on enough
and complete information. High cost for establishing
static stations severely limits the number of these
stations and causes pollution map with poor spatial
resolution. A useful way to improve pollution
products and increase our observations and knowledge
is utilizing low cost portable gas sensor. In this study,
CO gas sensor was used and a Mobile Data
Acquisition Unit was designed to collect mobile data
on CO concentrations. These measurements were

Fig. 13: CO concentration map (scale:1/250000) produced from Tehran Air Quality Control Companys data

through mobile sensing in metropolitan areas.

Paper presented at the Proceedings of the 2nd
ACM SIGKDD International Workshop on
Urban Computing.
Garca FM, Gonzlez PV, Rodrguez FL (2008).
Geostatistical Analysis and Mapping of
Groundlevel Ozone in a Medium Sized Urban
Area. Paper presented at the Proceeding of
World Academy of Science, Engineering and
Technology.
Hasenfratz D, Saukh O, Sturzenegger S, Thiele L
(2012). Participatory air pollution monitoring
using smartphones. Mobile Sensing.
Honicky R, Brewer EA, Paulos E, White R (2008). Nsmarts: networked suite of mobile atmospheric
real-time sensors. Paper presented at the
Proceedings of the second ACM SIGCOMM
workshop on Networked systems for
developing regions.

ACKNOWLEDGEMENTS
This work was supported by an Inha University
research grant.
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GIS-Based Air Pollution Monitoring using Static Stations and Mobile Sensor in Tehran/Iran

Dr. Abolghasem Sadeghi-Niaraki has a PhD in Geospatial Information System (GIS)

Engineering and IT (Geo-informatics) from Inha University,South Korea. He obtained his B.S
and M.S degree from Dept. of GIS, Geodesy and Geomatics Eng. Faculty, K.N. Toosi of
Technology, Tehran, Iran. He is an Assistant Professor at K.N. Toosi University of Technology.
His research interests include Ubiquitous GIS(UbiGIS), U-City, Brain City, Spatial enable
Society, U-SDI, Semantic GIS Web Service, Context-awareness, Ontology, LBS, M2M, Motion
Sensors & Indoor Positioning, Smartphone based Remote Sensing and Ubiquitous Health.

Hassan Hamraz received the B.S degree in Geomatic Eng. from Department of GIS, Geodesy
and Geomatic Engineering Faculty, K.N.T Universtity of Technology, Tehran, Iran. He is now
GIS M.S student at Department of GIS, Geodesy and Geomatic Engineering Faculty, K.N.T
Universtity of Technology, Tehran, Iran. He works on designing air pollution frameworks,
models, Analysis, visualization and statistical analysis. He also works on Ubiquitous air pollution,
electrochemical gas sensors and designing sensor node in air pollution field.

Mehrnoosh Omati currently is studying for Master of Science degree at Department of Remote
Sensing, Geodesy and Geomatic Engineering Faculty, K.N.Toosi University of Technology,
Tehran, Iran. She obtained her first degree in Geomatic Eng. from Faculty of Geodesy and
Geomatic Engineering, K.N.T University of Technology, Tehran, Iran in 2014.

Negar Noori received the B.S degree in Geomatic Eng. from Department of GIS, Geodesy and
Geomatic Engineering Faculty, K.N.T Universtity of Technology, Tehran, Iran. M.S student at
Department of photogrammetry, Geodesy and Geomatic Engineering Faculty, K.N.T University
of Technology, Tehran, Iran.

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