The article deals with the algorithm for determining the exterior and interior orientation elements of an infrared image obtained from an unmanned aerial vehicle using four reference points. The idea of the proposed algorithm is to determine the true position of the image by the defined three-dimensional spatial coordinates of the reference points in the image at the time of shooting. The image plane is built up on the defined points. The coordinates of the principal point of the image are calculated by making a perpendicular from the perspective center to the plane of the image. The focal length is equal to the length of this perpendicular. Euler angles characterizing the position of the camera at the time of shooting are calculated after determining the axes’ directions of the inclined image coordinate system. The proposed algorithm is effective even in the case when all the elements of the image orientation are unknown. Calculations of the image elements on model examples with different initial data show high accuracy. The possibility of obtaining the necessary accuracy for the orthotransformation procedure was confirmed on real images.