1. A computer-implemented method for determining a position of a point of interest by a handheld device, the computer-implemented method comprising: receiving image data from at least one image sensor; receiving orientation data from at least one orientation sensor; causing a display, on the device, of a representation of the image data and the orientation data to assist a user in positioning the device; receiving position data, by a GNSS antenna, from a plurality of satellites; receiving positioning assistance data, by at least one communication antenna, from a reference station; determining a GNSS antenna height estimation based on the image data; determining an alignment error associated with the handheld device and the point of interest based on the image data; and determining a position of the point of interest based at least on the position data, the positioning assistance data, the orientation data, the antenna height estimation, and the alignment error.