Method for improving position and orientation measurement data

The method involves performing laser scanning of two sets of positions and locations to generate two three-dimensional images of a surrounding area (17), respectively. The two sets of positions and locations are measured by an inertial measurement unit (IMU)/global navigation satellite system (GNSS) subsystem (22). Objects in the images are detected, and one of the measured locations is corrected for position measurement errors to obtain corrected location measurement data, where the errors result from comparison of two spatial locations of the objects in the respective images.