For cultural heritage recording cost effective and easy to use methods offer many advantages and techniques based upon close-range photogrammetry have proved effective in this area. Off-the-shelf digital cameras can be used to rapidly acquire data and at low cost, allowing non-experts to become involved in both recording and measurement (Bryan and Chandler, 2008). However, the necessity to derive the exterior orientation of the camera from coordinated control points is time consuming and costly and using targets can be often undesirable at sensitive sites. In this PhD programme, developed in collaboration with English Heritage, it is suggested that these problems can be overcome by deriving exterior orientation parameters directly. Therefore a recording system comprising an of off-the-shelf digital SLR camera, a small and comparatively cheap orientation sensor, and DGPS has been developed.