In order to improve the accuracy of the external orientation of aerial cameras directly accomplished by “on the fly” GPS/INS measures only, an analytical integrated model, also exploiting image coordinates submitted to photogrammetric conditions, is here presented. In the first part, some analytical aspects are described, focusing the attention on the surveying geometrical model making use of the direct orientation, and the Kalman filter “pseudo-dynamic” algorithm allowing such an integrated orientation. Furthermore, a pros/cons comparison between direct, indirect, and the integrated method is carried out; the aim of the proposed method is an attempt to well combine the capability of previous two. The numerical experimentation of this method, on the GPS/INS and imaging data of the OEEPE Test “Integrated Sensor Orientation”, has given well results finally presented and evaluated.
