A system, comprising: a single calibrated camera configured to capture a plurality of images (300, 305) of a global navigation satellite system (GNSS)/ inertial navigation system system that includes an inertial measurement unit, wherein each image includes a GNSS antenna of the GNSS/INS system, a reference point of the INS of the GNSS/INS system, and a target having known attributes and a plurality of control points, wherein the target is placed in close proximity to the IMU and aligned with a selected axis of the IMU and each image of the plurality of images (300, 305) is from a different vantage point of the GNSS/INS system; and one or more processors configured to execute an application that provides instructions to utilize the known attributes and the plurality of control points of the target to photogrammetrically determine from the plurality of images (300, 305) that include the GNSS antenna, the reference point of the INS, and the target: orientation information associated with each image of the GNSS/INS system; a scale associated with each image; coordinates of the GNSS antenna relative to the target and the reference point of the INS relative to the target utilizing the orientation information and the scale; and the lever arm values based on the coordinates of the GNSS antenna and the reference point of the INS, wherein the lever arm values are associated with a 3-dimensional vector between the reference point of the INS and the GNSS antenna. a single calibrated camera configured to capture a plurality of images (300, 305) of a global navigation satellite system (GNSS)/ inertial navigation system system that includes an inertial measurement unit, wherein each image includes a GNSS antenna of the GNSS/INS system, a reference point of the INS of the GNSS/INS system, and a target having known attributes and a plurality of control points, wherein the target is placed in close proximity to the IMU and aligned with a selected axis of the IMU and each image of the plurality of images (300, 305) is from a different vantage point of the GNSS/INS system; and one or more processors configured to execute an application that provides instructions to utilize the known attributes and the plurality of control points of the target to photogrammetrically determine from the plurality of images (300, 305) that include the GNSS antenna, the reference point of the INS, and the target: orientation information associated with each image of the GNSS/INS system; a scale associated with each image; coordinates of the GNSS antenna relative to the target and the reference point of the INS relative to the target utilizing the orientation information and the scale; and the lever arm values based on the coordinates of the GNSS antenna and the reference point of the INS, wherein the lever arm values are associated with a 3-dimensional vector between the reference point of the INS and the GNSS antenna. orientation information associated with each image of the GNSS/INS system; a scale associated with each image; coordinates of the GNSS antenna relative to the target and the reference point of the INS relative to the target utilizing the orientation information and the scale; and the lever arm values based on the coordinates of the GNSS antenna and the reference point of the INS, wherein the lever arm values are associated with a 3-dimensional vector between the reference point of the INS and the GNSS antenna.