Residential heating is a major contributor to atmospheric pollution, especially in populated areas. Traditional methods for measuring emissions, such as chimney probes, are limited due to the need for prior owner consent, which can compromise the reliability of results—particularly when detecting the illegal burning of materials like plastic or waste oil. This study introduces a mobile air pollution monitoring system using compact sensor modules installed on vehicles and drones. These autonomous modules are equipped with gas, particulate matter, and environmental sensors, along with GPS tracking to record pollutant concentrations in real time and associate them with specific geographic locations. Field experiments conducted in Hungary and Uzbekistan demonstrated the system's effectiveness in detecting elevated pollutant levels in rural areas with solid-fuel heating and in urban zones affected by industrial activity and traffic. For instance, PM2.5 concentrations ranged from 15 μg/m³ in forested areas to as high as 160 μg/m³ in industrial zones, while CO₂ levels near chimneys exceeded background values by 15–25 ppm. Drone-based measurements enabled vertical profiling and direct analysis of emissions from individual chimneys, providing detailed spatial distribution data. The proposed mobile sensing approach allows for the accurate localization of pollution sources and the assessment of air quality variations within small-scale environments. This method overcomes limitations of stationary or pre-announced inspections and supports proactive environmental monitoring and enforcement.