Methods for geospatial positioning and portable positioning devices thereof

A portable positioning device adapted to obtain a geospatial position of a point of interest, said portable positioning device comprising:

• a global navigation satellite system (GNSS) receiving unit including an antenna adapted to receive satellite information signals from a GNSS;
• either one, or both of, an imaging device and an inertial measurement unit (IMU) wherein said imaging device is adapted to capture a series of images, or a video, of a scene including said point of interest, and wherein said IMU is adapted to provide acceleration and gyroscopic data;
• a data collector adapted to collect data from said GNSS receiving unit and data from at least one of said imaging device and said IMU for each one of a plurality of positions of said positioning device over a surface including said point of interest, wherein said data collector is further configured to obtain a pointing input including a sighting direction towards said point of interest from said positioning device being positioned at at least one reference position;
• and
• a transmitter for transmitting, to a data fusing processor, said collected data and said pointing input for determining orientations and positions of said positioning device for said plurality of positions of said positioning device in a global coordinate system (X1, Y1, Z1), identifying said point of interest and determining said geospatial position of said point of interest in said global coordinate system based on said collected data and said pointing input.