A method of calibrating a structure is provided. The method includes securing a first end of a tether to a device at a fixed location on an external surface of the structure, attaching an unmanned aerial vehicle to the second end of the tether, moving the unmanned aerial vehicle in a trajectory around the structure while tethered to the fixed device, scanning the external surface of the structure over a course of the trajectory using the unmanned aerial vehicle to obtain a mapping of the external surface of the structure, determining a position of the unmanned aerial vehicle with respect to the fixed device; and calibrating the structure based on i) the determined position of the unmanned aerial vehicle with respect to the fixed device, and ii) the mapping of external surface of the structure.