1. A computer-implemented method of determining a position of a point of interest using a device having an antenna, a downwardly facing image sensor, at least one orientation sensor and a display, said method comprising: positioning the device above the point of interest so the point of interest is captured by the downwardly facing image sensor; receiving, at the antenna, position data from a plurality of satellites; receiving image data from the downwardly facing image sensor, said image data including the point of interest; receiving orientation data from the at least one orientation sensor, said orientation data corresponding to the pitch and roll of the device with respect to the horizon; displaying on the display a representation of the image data and a representation of the orientation data to assist a user in positioning the device; determining an angle between a reference line and a vector pointing to the point of interest based on the image data; generating a mathematical representation of a first cone based on the position data and the orientation data, wherein the first cone comprises an axis and a surface, and wherein an angle between the axis and the surface corresponds to the angle between the reference line and the vector pointing to the point of interest; and determining the geographical position of the point of interest using a cone intersection algorithm on a set of multiple cones, wherein the set of multiple cones includes the first cone.