An apparatus for determining position data for a point of interest, comprising: a housing; characterized in that it further comprises: at least one handgrip, integral with the housing, for enabling a user to hold the apparatus; a display screen, integral with the housing, for displaying image data and orientation data to assist a user in positioning the apparatus; a GNSS antenna, integral with the housing, for receiving position data from a plurality of satellites; at least one communication antenna, integral with the housing, for receiving positioning assistance data related to the position data from a base station; at least one receiver within the housing, and coupled to the GNSS antenna; orientation circuitry, within the housing, for generating orientation data of the housing, based upon a position of the housing, related to the horizon; imaging circuitry, within the housing, for obtaining image data concerning the point of interest for display on the display screen; and positioning circuitry, coupled to the at least one receiver, the imaging circuitry, and the orientation circuitry, adapted for: determining a GNSS antenna height estimation and an alignment error between the apparatus and the point of interest, based on the image data; and determining a position for the point of interest based on at least the position data from the plurality of satellites, the positioning assistance data, the orientation data, the GNSS antenna height estimation, and the alignment error between the apparatus and the point of interest. a housing; characterized in that it further comprises: at least one handgrip, integral with the housing, for enabling a user to hold the apparatus; a display screen, integral with the housing, for displaying image data and orientation data to assist a user in positioning the apparatus; a GNSS antenna, integral with the housing, for receiving position data from a plurality of satellites; at least one communication antenna, integral with the housing, for receiving positioning assistance data related to the position data from a base station; at least one receiver within the housing, and coupled to the GNSS antenna; orientation circuitry, within the housing, for generating orientation data of the housing, based upon a position of the housing, related to the horizon; imaging circuitry, within the housing, for obtaining image data concerning the point of interest for display on the display screen; and positioning circuitry, coupled to the at least one receiver, the imaging circuitry, and the orientation circuitry, adapted for: determining a GNSS antenna height estimation and an alignment error between the apparatus and the point of interest, based on the image data; and determining a position for the point of interest based on at least the position data from the plurality of satellites, the positioning assistance data, the orientation data, the GNSS antenna height estimation, and the alignment error between the apparatus and the point of interest. at least one handgrip, integral with the housing, for enabling a user to hold the apparatus; a display screen, integral with the housing, for displaying image data and orientation data to assist a user in positioning the apparatus; a GNSS antenna, integral with the housing, for receiving position data from a plurality of satellites; at least one communication antenna, integral with the housing, for receiving positioning assistance data related to the position data from a base station; at least one receiver within the housing, and coupled to the GNSS antenna; orientation circuitry, within the housing, for generating orientation data of the housing, based upon a position of the housing, related to the horizon; imaging circuitry, within the housing, for obtaining image data concerning the point of interest for display on the display screen; and positioning circuitry, coupled to the at least one receiver, the imaging circuitry, and the orientation circuitry, adapted for: determining a GNSS antenna height estimation and an alignment error between the apparatus and the point of interest, based on the image data; and determining a position for the point of interest based on at least the position data from the plurality of satellites, the positioning assistance data, the orientation data, the GNSS antenna height estimation, and the alignment error between the apparatus and the point of interest. determining a GNSS antenna height estimation and an alignment error between the apparatus and the point of interest, based on the image data; and determining a position for the point of interest based on at least the position data from the plurality of satellites, the positioning assistance data, the orientation data, the GNSS antenna height estimation, and the alignment error between the apparatus and the point of interest.