In order to meet the technical requirements for miniaturization, multi-angle, multi-altitude, and fast simultaneous acquisition of atmospheric pollutants, this study develops an integrated, lightweight, and cost-effective airborne differential optical absorption spectroscopy (DOAS) system. This system is designed in order to be used on a rotorcraft unmanned aerial vehicle (UAV) platform for monitoring atmospheric pollutants. The compositions of the hexacopter UAV platform and the airborne DOAS system are detailed in this work. The system includes a multi axis differential optical absorption spectroscopy (MAX-DOAS) spectral acquisition system, a control system, and a flight environment monitoring system. Commands are sent from a computer via serial communication to drive a gimbal, controlling the azimuth angle and elevation angle of the telescope, with a camera recording the light obstruction. The sunlight scattered by the atmosphere is collected by the telescope and transmitted via fiber optics to the spectrometer, which then transmits the data to the control computer. Additionally, the system captures data of altitude, temperature, humidity, and GPS location during flight, and filters out spectral data obtained under abnormal flight conditions. Stability studies indicate that the mean angular deviations for yaw, roll, and pitch are 0.07°, –0.13°, and –0.12° respectively, which meet the requirements for monitoring stability. Comparative experiments with a commercial ground-based DOAS system show that the correlation coefficients between the monitoring data of both systems are both greater than 0.92, confirming the reliability of the airborne system. In field flight experiments, the airborne DOAS system conducts observations at altitudes of 30 m, 60 m, and 90 m, with the elevation angle set at 0° and the azimuth angle measured every 30° from 0° to 360°. The system successfully obtains the concentration distributions of NO ₂, SO ₂, and HCHO at different azimuth angles and altitudes. The results indicate that the concentrations of these three gases decrease with altitude increasing, with higher concentrations observed in the southeast direction, indicating the presence of pollution sources in that direction. Further analysis with considering altitude changes indicates that the rate of decrease in NO ₂concentration and SO ₂concentration slow down with altitude increasing, while the rate of decrease in HCHO remains relatively constant. These findings indicate that this system effectively meets the technical requirements for simultaneous, rapid, multi-angle, and multi-altitude detection of atmospheric pollutants, providing essential support for the detailed monitoring of complex urban micro-environments.