The aim of this project is the integrated, cm-precise, reliable and high frequency determination of the trajectory of an unmanned aircraft system (UAS), equipped with different cameras and laser scanners. The focus is on methods showing real-time potential. Information from a building model according to level of detail 2 (LoD2) is integrated into the trajectory determination. In addition, it is supported by GNSS signals and IMU sensors. Availability of such a trajectory opens up a whole range of new possibilities in research, development and application. However, these will not be investigated in the current project.