A technique is provided to measure an alignment of an imaging device of a guided projectile containing an imager and a world coordinate frame, and includes producing a pure rolling motion of a body of the projectile, capturing a series of images of an imaging device calibration target over a range of body roll angles of the rolling body, measuring the roll angles of the rolling body with respect to a world coordinate frame as defined by the imaging device calibration target, simultaneously estimating alignment angles of the imaging device and misalignment angles associated with an orientation of the body, and estimating a rotational transform between an imaging device coordinate frame and a body coordinate frame based on the estimated alignment angles and misalignment angles.