The present disclosure relates to a method for determining a position and an orientation. The method (300) comprises the steps of obtaining (310) sensor data (210) comprising a plurality of images of Earth's surface from at least one calibrated camera; forming (320) a 3D reconstruction (220) of apart of Earth's surface based on obtained sensor data (210); obtaining (330) from a data storage (250), source data (260) indicative of a region comprising at least said part of Earth's surface, wherein said source data (260) comprises a source digital surface model, DSM, (270) for said region, and an orthophoto (280) of said region; determining (340a) a sensor DSM (230) of the 3D reconstruction (220) and a sensor texture (240) of the 3D reconstruction (220) based on the 3D reconstruction (220); matching (350) the sensor DSM (230) and the sensor texture (240) with the source DSM (270) and the orthophoto (280); and determining (360) the position and the orientation of the 3D reconstruction (220) based on the matching (350) of the sensor DSM (230) and the sensor texture (240) with the source DSM (270) and the orthophoto (280).