Abstract: A system for self-geoposition an unmanned aerial vehicle (UAV), the system includes a memory for storing an accurate map data and/or an aerial photography of a ground region. A camera is mounted on the UAV and is able to record in real time or during the UAV flight images and streaming video that is stored in the memory. A landmarks/objects correlation module uses methods and techniques for identification and association/correlation of objects/landmarks optically detected on the field-of-view (FOV) of the camera, with objects/landmarks in the aerial photography region. Angles differences measuring module, measures included/inscribed angles within the camera's FOV by counting pixels in the image of the camera to find the included angles of pairs of landmarks in respect to the camera. A camera geo-position calculation module calculates the self geo-position of the UAV by using the landmarks position and the included/inscribed angles.