In this work, the chemical composition of the exhaust gas from domestic gas boiler has been analysed in the point of thermodynamics and CO sensor has been characterized. We proposed that the combustion condition can be estimated by the exhaust gas composition, i.e., the excess air ratio and combustion temperature can be calculated simply by the measurement of the $O_{2}$ fraction and $H_{2}/CO$ in the exhaust gas. By analyse the on site situation domestic boiler, the excess air ratio is about $55~110\%$. Therefore, the CO may be produced in domestic gas boiler by luminous(yellow) flames rapidly lose heat by radiation, turbulent flames may be partially quenched by the action of steep velocity gradients, and flames burning very close to a cold wall may be partial1y quenched by heat conductivity to the wall. The output voltage of CO sensor is lineally depend on the CO and $H_{2}$concentration. And the exhaust CO from boiler can be reduced by closed loop control with CO sensor