State and measurement tomography make assumptions about the experimental states or measurements. These assumptions are often not justified because state preparation and measurement errors are unavoidable in practice. Here we describe how the Gram matrix associated with the states and measurement operators can be estimated via semidefinite programming if the states and the measurements are so-called globally completable. This is, for instance, the case if the unknown measurements are known to be projective and nondegenerate. The computed Gram matrix determines the states, and the measurement operators uniquely up to simultaneous rotations in the space of Hermitian matrices. We prove the reliability of the proposed method in the limit of a large number of independent measurement repetitions.