A Method for determining a geospatial position of a point of interest, said method comprising: collecting, by a data collector of a positioning device, data from a global navigation satellite system, GNSS, receiving unit of said positioning device and data from at least one of an imaging device and an inertial measurement unit, IMU, of said positioning device for each one of a plurality of different locations of said positioning device above the point of interest; transmitting, to a data fusing processor, said collected data for determining orientations and positions of said positioning device for said plurality of different locations of said positioning device in a global coordinate system (X 1, Y 1, Z 1); obtaining, by said data collector, from a laser-based pointing device of the positioning device, a pointing input including a sighting direction from said positioning device towards said point of interest and a distance from said positioning device to said point of interest, said positioning device being positioned at at least one reference location; said method being characterized by: determining the position and orientation of the positioning device at said at least one reference location based on the orientations and positions of the positioning device as determined at said plurality of different locations; transmitting said pointing input to the data fusing processor for identifying said point of interest and for determining said geospatial position of said point of interest in said global coordinate system; and determining said geospatial position of said point of interest in said global coordinate system based on said pointing input and the determined orientation and position of the positioning device in the global coordinate system at said at least one reference location. collecting, by a data collector of a positioning device, data from a global navigation satellite system, GNSS, receiving unit of said positioning device and data from at least one of an imaging device and an inertial measurement unit, IMU, of said positioning device for each one of a plurality of different locations of said positioning device above the point of interest; transmitting, to a data fusing processor, said collected data for determining orientations and positions of said positioning device for said plurality of different locations of said positioning device in a global coordinate system (X 1, Y 1, Z 1); obtaining, by said data collector, from a laser-based pointing device of the positioning device, a pointing input including a sighting direction from said positioning device towards said point of interest and a distance from said positioning device to said point of interest, said positioning device being positioned at at least one reference location; said method being characterized by: determining the position and orientation of the positioning device at said at least one reference location based on the orientations and positions of the positioning device as determined at said plurality of different locations; transmitting said pointing input to the data fusing processor for identifying said point of interest and for determining said geospatial position of said point of interest in said global coordinate system; and determining said geospatial position of said point of interest in said global coordinate system based on said pointing input and the determined orientation and position of the positioning device in the global coordinate system at said at least one reference location. determining the position and orientation of the positioning device at said at least one reference location based on the orientations and positions of the positioning device as determined at said plurality of different locations; transmitting said pointing input to the data fusing processor for identifying said point of interest and for determining said geospatial position of said point of interest in said global coordinate system; and determining said geospatial position of said point of interest in said global coordinate system based on said pointing input and the determined orientation and position of the positioning device in the global coordinate system at said at least one reference location.