The paper describes of the Ryze Tello drone to move autonomously using a basic vision system. The drone's position is determined by identifying AprilTags' position relative to the drone's built-in camera. The accuracy of the drone's position readings and distance calculations was tested under controlled conditions, and errors were analysed. The study showed a decrease in absolute error with decreasing drone distance from the marker, a little change in the relative error for large distances, and a sharp decrease in the relative error for small distances. The method is satisfactory for determining the drone's position relative to a marker.

翻译：本文描述了利用基本视觉系统实现Ryze Tello无人机自主移动的方法。通过识别AprilTags相对于无人机内置摄像头的位置来确定无人机的位置。在受控条件下测试了无人机位置读数与距离计算的精度，并分析了误差。研究表明，随着无人机与标记物距离减小，绝对误差逐渐降低；在大距离条件下相对误差变化较小，而在小距离条件下相对误差急剧减小。该方法能够较好地确定无人机相对于标记物的位置。