In various advanced agriculture activities called smart agriculture, we focus on three-dimensional measurements for farm mapping and machine control. We also focus on precise point positioning real-time kinematic systems, such as Global Navigation Satellite System (GNSS) positioning with submeter-level augmentation services (SLAS), centimeter-level augmentation services (CLAS), and multi-GNSS advanced demonstration tool for orbit and clock analysis (MADOCA) to improve the efficiency of precise positioning using the Quasi-Zenith Satellite System. In our study, we selected a farm as an experiment area to acquire point clouds and position data of cultivation works before sowing soybeans. We used a low-price light detection and ranging device with a multifrequency GNSS. Through our experiment, we evaluated the positioning performance of SLAS, CLAS, and MADOCA for point cloud acquisition. Moreover, we confirmed that our methodology can reconstruct point clouds from a tractor.