This work describes a low-cost and low-hardware-demanding architecture for generating position data for autonomous UAVs in indoor experiments. The approach is based on extracting data from a printed Augmented Reality tag fixed on the top of the Unmanned Aerial Vehicle (UAV) frame. This paper evaluates the reliability of the proposed architecture to provide valid position data for UAVs flying indoors. Such data is then processed by a PID position control algorithm running on a base station. Such a controller commands the displacement of a small multi-rotor UAV. The experimental results show an absolute position error less than 20.0 cm. The real-world experiments confirm the PID control’s capability to maintain the UAVs flying correctly indoors along with a pre-programmed route. Compared with similar approaches found in the literature, the proposed architecture obtained similar performance; however, we employed less expensive hardware and reduced effort to expand the system to cover larger physical areas.