How to make AR objects anchor at a particular position in geolocation

Question

I have been trying to create an AR App for displaying business names in a city by scanning it through mobile the closest I have come up with is using haversine function to check if the distance is less than 5 meters and pop up the objects or I'd names at that point, though it is working fine I wish to go ahead and build a navigation system, it isn't too tough but the problem is once I leave the 5meter radius the object keeps disappearing, if i extend it to 100 m atleast it helps popping near me instead of at the desired location, so I want to anchor these place holders at the location so even if i scan them from 100 meters they don't disappear or appear near me but appear at their original positions