How are GNSS positions used in RiSCAN PRO registration?

Question:

A customer is using their VZ-600i for scanning in forestry. They are hoping to use RTK GNSS to georeference the surveys (and understand well the problems with doing this in forested areas!).

I have a question relating to how RiSCAN PRO uses the recoded GNSS positions, both with and without RTK corrections. Does the registration assign greater weight to GNSS fixes with smaller errors? So, positions with a good RTK fix would be held more "fixed" and positions with a float solution would be allowed to move more?

In other words, would the overall registration quality be degraded by having some positions with a float solution? I suppose the follow up question would be whether having a float solution is worse than having no GNSS solution.

Response from Riegl:

AR2 is using the GNSS Position for rough initial placing of the scans to find overlap to previous scan positions. In addition to the GNSS Position, the scanner is acquiring  a short trajectory between the scan position, if the time between two positions is below 30s, and use also this for initial aligment.

GNSS Accuracy is then taken into account when performing MSA2, here the customer has some possibilities to choose, see from the manual.

After MSA2 they can have a look on the report, chapter 4.4.1 GNSS Measurements, there they see how far the ScanPos, after MSA2, is differing from the measured GNSS Position

Also in the position estimation window you can see the difference