Abstract: Disclosed are systems and methods for augmenting the GNSS RTK surveying system with ground-based ranging transceivers, such as ultra wideband (UWB) Radio Frequency (RF) transceivers. A system embodiment includes a plurality UWB reference ranging transceivers, a movable UWB ranging transceiver, and at least one GNSS RTK receiver. A method includes identifying the surveyed area and placing one or more reference ranging transceivers in the locations proximate to the identified surveyed area. A position of such reference ranging transceivers may be determined using a GNSS receiver. A movable ranging transceiver may be provided in the surveyed area which is configured conduct ranging measurements. GNSS satellite measurements and UWB ranging measurements may be combined to estimate the position of the surveying ranging transceiver. An estimate for the bias and scale factor states for UWB range pairs may be undertaken in order to provide improved position estimation.