The paper deals with the advanced technique for terrestrial survey realised by means the so-called "Mobile Mapping Systems" (MMS), costituted by a vehicle equipped with satellite, inertial and imaging sensors. In a first part, the geometrical model currently applied for the MMS survey is described, with particular emphasis to the practical advantages of the sensor integration, carried out by using dynamic models chich also assuring a computational optimisation. In the other part, as alternative geometrical model is proposed which uses instead photogrammetric observations for the imaging sensor eternal orientation: the problem datum can be fixed by using the absolute coordinates of some image-points, e.g. stored in a digital mapping. For such end, particular state vector and matrix transition of the dynamic model are chosen by following analytical motivations here described.
