This study outlines a process for developing an autonomous landing system for Quadrotor reconnaissance UAVs. We begin with an overview of the system, including mathematical models for the Quadrotor and camera, and a detailed hardware connection diagram. For estimating the position of a base with an Embedded ArUco marker, we use the Perspective-n-Point method, known for its reliability and efficiency in real-time applications. We then propose using a PID controller to manage the UAV’s horizontal position, streamlining the landing process and ensuring reliable performance in real-world scenarios. The system, implemented on a Raspberry Pi 4 Model B, was validated through practical experiments. The results demonstrate that the UAV can land accurately on the base with small error from its center, indicating potential for direct application in UAV models at the enterprise level, such as those used by HTI Group.