The present study describes the development of a technique for the measurement of atmospheric turbulence and temperature at a point in space based on the integration of a fast-response multi-hole pressure probe and a thermocouple with an inertial measurement unit on a multirotor UAV-based platform. This allows for an accurate measurement of time series of the three components of the velocity vector and temperature at any point in space in which the UAV can fly within the limitations of its autonomy. The presented technique relies on an accurate correction of the three-component velocity vector measured by the pressure probe on the frame of reference of the UAV -non inertial- with the information provided by the inertial measurement unit. The study includes a validation of the technique against sonic anemometry and the measurement of the signature of tip vortices shed by the blades of a full-scale wind turbine as an example of its potential.