A system for inspecting a structure, characterized by: at least one positional sensor for acquiring positional data; the least one positional sensor being capable of acquiring positional data of the at least one non-destructive sensor, wherein the at least one positional sensor is capable of acquiring three-dimensional positional data; at least one non-destructive inspection sensor for acquiring data indicative of the structure, wherein the at least one non-destructive inspection sensor is an ultrasonic sensor; a base and a movable arm carrying each of the at least one positional sensor and the at least one non-destructive inspection sensor and being movably attached to the base, wherein the movable arm comprises at least one movable joint between the base and the at least one non-destructive inspection sensor; the at least one non-destructive inspection sensor carried by the moveable arm and capable of acquiring data indicative of the structure; a controller for controlling the motion of the moveable arm, wherein the controller is operable to move the moveable arm in accordance with a predefined motion control program, and wherein the controller is operable to move the movable arm independently of the positional data acquired by the at least one positional sensor; and wherein the at least one positional sensor is capable of acquiring positional data independent of the motion of the moveable arm, and further comprising a data acquisition system capable of communication with each of the at least one positional sensor and the at least one non-destructive inspection sensor such that the data acquisition system generates information indicative of at least a portion of the structure based on data acquired by each of the sensors, wherein the data acquisition system is adapted to generate an image of the structure based on data acquired by the at least one non-destructive inspection sensor and associated positional data, and a mechanism operable to trigger at least one of the at least one non-destructive inspection sensor and the at least one positional sensor to acquire data such that data indicative of the structure and the positional data are acquired at the same time; wherein the data acquisition system is capable of acquiring the positional data at a frequency of at least 200 Hz. at least one positional sensor for acquiring positional data; the least one positional sensor being capable of acquiring positional data of the at least one non-destructive sensor, wherein the at least one positional sensor is capable of acquiring three-dimensional positional data; at least one non-destructive inspection sensor for acquiring data indicative of the structure, wherein the at least one non-destructive inspection sensor is an ultrasonic sensor; a base and a movable arm carrying each of the at least one positional sensor and the at least one non-destructive inspection sensor and being movably attached to the base, wherein the movable arm comprises at least one movable joint between the base and the at least one non-destructive inspection sensor; the at least one non-destructive inspection sensor carried by the moveable arm and capable of acquiring data indicative of the structure; a controller for controlling the motion of the moveable arm, wherein the controller is operable to move the moveable arm in accordance with a predefined motion control program, and wherein the controller is operable to move the movable arm independently of the positional data acquired by the at least one positional sensor; and wherein the at least one positional sensor is capable of acquiring positional data independent of the motion of the moveable arm, and further comprising a data acquisition system capable of communication with each of the at least one positional sensor and the at least one non-destructive inspection sensor such that the data acquisition system generates information indicative of at least a portion of the structure based on data acquired by each of the sensors, wherein the data acquisition system is adapted to generate an image of the structure based on data acquired by the at least one non-destructive inspection sensor and associated positional data, and a mechanism operable to trigger at least one of the at least one non-destructive inspection sensor and the at least one positional sensor to acquire data such that data indicative of the structure and the positional data are acquired at the same time; wherein the data acquisition system is capable of acquiring the positional data at a frequency of at least 200 Hz.