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Accurate, robust and cost-efficient measurements of diffuse horizontal irradiance (DHI) and global tilted irradiance (GTI) are of great interest for solar energy applications. However, the available measurement techniques exhibit at least one of these shortcomings: restriction of GTI measurement to a single plane, intensive maintenance, high acquisition cost or increased deviations, especially at new measurement sites. To avoid these shortcomings, we suggest a comparably inexpensive and robust setup of a thermopile pyranometer and an all-sky imager (ASI) for measurement of DHI and GTI. The pyranometer measures global horizontal irradiance (GHI) and our method consecutively estimates diffuse sky radiance, DHI, direct normal irradiance (DNI) and GTI, by merging information from the combined setup. The system is developed and validated at two sites in Spain and Germany. Measurement of GTI is benchmarked for seven planes over GTI derived by transposition based on DHI and DNI from a tracker setup with a pyrheliometer and shaded thermopile pyranometer. Our results indicate that the measurement system can be applied at both sites. The proposed method avoids time-consuming radiometric calibrations of the camera by the combination of both sensors and a self-calibration. The measurement system is promising in particular for measurement of GTI. For 10-min average GTI, our approach yields an rRMSD of 1. 6... 4. 8 % for planes with tilts in the range of 2 0 ∘... 6 1 ∘ . Thus, at both sites and for all planes, it outperforms the tracker-based transposition yielding 2. 3... 6. 5 %. DHI is measured significantly more accurately than reported in previous works using an ASI alone. [Display omitted] • A combination of an all-sky imager and a pyranometer measures DHI and GTI. • The method avoids radiometric calibrations of the camera by the combination. • Based on the combination, dedicated self-calibrations are proposed. • The approach is validated and benchmarked at two distinct sites. • For GTI, the method is more accurate than solar tracker-based transposition. [ABSTRACT FROM AUTHOR]