AR Marker Detection Based Autonomous Attitude Control for an Indoor Non-GPS Aided Quadcopter

In this research, we present a mechanism for controlling the attitude of an unaided quadcopter flying in an outdoor setting without using GPS. In order to pilot a quadcopter without the assistance of a location service provided by GPS, the suggested attitude control mechanism is comprised of a position detection method and an algorithm for a dual PID controller. Through the utilization of the image processing system and the AR marker detection method, the true position and location of the quadcopter may be determined. In addition, the dual closed-loop feedback PID control with multiple update intervals is suggested as a method to improve the dependability of the attitude PID control. The suggested quadcopter system reduces the requirement for extra sensors and manual manipulation by utilizing an augmented reality (AR) marker detection technique in conjunction with an autonomous attitude control mechanism. The results of the experiments showed that the autonomous attitude control and operation of the quadrotor might be successfully carried out in an interior setting where GPS assistance is unavailable. Therefore, the suggested attitude control mechanism is ideal for inside areas that do not have access to GPS. This makes it possible for a quadcopter to travel and hover without the assistance of any external guidance or control autonomously.