Indoor Autonomous Positioning and Control System of Quadrotor UAV Using Monocular Vision Assistance

Under indoor conditions without global positioning system (GPS) signals, this paper proposes a feasible method to realize autonomous positioning and tracking of unmanned aerial vehicles (UAV). The system uses the quadrotor’s own inertial measurement unit (IMU), peripheral optical flow and ranging module as the main source of height positioning and hovering information, and uses a monocular camera to assist in indoor positioning. For example, when there is a horizontal tracking line in an indoor three-dimensional space, the UAV can use the altitude data and visual data to perform the task of tracking the line; with the help of the grid lines laid on the ground, the system can position itself. This paper builds a test environment, in which we verify that the system is stable, reliable, and highly feasible.