Methods for geospatial positioning and portable positioning devices thereof

A portable positioning device adapted to obtain a geospatial position of an object, said portable positioning device comprising:

• a global navigation satellite system, GNSS, receiving unit adapted to receive satellite information signals from a GNSS;
• an imaging device, wherein the imaging device is adapted to capture at least one image of a scene including said object;
• a display unit adapted to display one or more images captured by the imaging device and a selection mechanism for assisting in selection of an object among at least one candidate object in the one or more displayed image;
• and
• a processing unit configured to:
• process at least one image captured by the imaging device for identifying at least one candidate object in said scene and for determining a nature of said at least one candidate object;
• cause displaying, at the display unit, of said at least one captured image with said selection mechanism, wherein the at least one captured image includes an indication of the determined nature of said at least one candidate object;
• receive an input from the selection mechanism about selection of at least one of the at least one candidate object;
• cause the collection of data from the GNSS receiving unit and data from the imaging device for a plurality of positions of the positioning device at which the selected object is viewed by the imaging device;
• determine, based on said collected data, orientations and positions of the positioning device for the plurality of positions of the positioning device in a global coordinate system (X1, Y1, Z1) and determine the geospatial position of the selected object in the global coordinate system based on the determined orientations and positions of the positioning device in the global coordinate system.