The determination of a suitable sensor location on quadrotor drones is a very important issue for chemical reconnaissance platforms because the magnitude and direction of air velocity is different for each location. In this study, we investigated a customized chemical reconnaissance system consisting of a quadrotor drone and a chip-sized chemical sensor for detecting dimethyl-methylphosphonate (DMMP; a Sarin simulant) and investigated the chemical detection properties with respect to the sensor position through indoor experiments and particle image velocimetry (PIV) analysis of the system. The PIV results revealed an area free of vortex–vortex interaction between the drone rotors, where there was distinctly stable and uniform chemical detection of DMMP. The proposed chemical reconnaissance system was found to be realistic for practical application.