An optical system includes a reference projector that projects collimated beams of light into the optical system entrance aperture which are imaged by an image recording device. The beams produce fiducial images present in every image captured by the imaging recording device. The fiducial images can be used to characterize the performance of the optical system and derive distortion correction coefficients. The distortion correction coefficients can be applied to a portion of an image, such as a group of pixels, or to the entire image, to thereby compensate for distortions in the optical system. In some embodiments, e.g., airborne cameras, the projector is rigidly coupled to an inertial measurement unit. The ability of the airborne camera to perform object geolocation from imagery is improved. The fiducial images enable optical system performance to be characterized and distortion correction coefficients to be obtained and thereby improve the accuracy of a ray angle calculation to the object of interest. Furthermore, the ray angle can be related to an inertial measurement system coordinate system using a direction cosine matrix.