Since SPOT1, the French national space centre (CNES) has worked on improving the geometry of Earth observation spacecrafts. The accuracy of sensor calibration is one of the main key points for any Earth observation application such as orthorectification, DEM generation or surface change detection. For the last twenty years CNES has developed two families of methods: absolute methods and relative methods. These methods are used to characterize a pushbroom acquisition along the detector line and the time line. By this way, the viewing directions are measured and the residual of the spacecraft’s attitude angles (not restituted by the Attitude and Orbit Control System) is estimated. This information can complete the geometric model of all the scenes acquired by the instrument and is used in all geometric applications. This paper presents new attitude assessment methods taking advantage of the capabilities of Pléiades-HR in terms of agility and focal plane arrangement – panchromatic band and multispectral (MS) bands.