> For the complete documentation index, see [llms.txt](https://docs.phoenixlidar.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.phoenixlidar.com/3rd-party-software-documentation/bathymetric-lidar-processing-in-riprocess/riprecision.md).

# RiPrecision

RiPrecision optimizes the trajectory based on pointcloud observations. To access RiPrecision, navigate to Tools->RiPrecision.

Select the trajectory and laser device in Adjust mode:

<figure><img src="/files/P8h1mteIVEkdvc0Nqsqb" alt=""><figcaption></figcaption></figure>

Use automatic features:

<figure><img src="/files/lZeAdY5S0SF1vY3Fl3fR" alt=""><figcaption></figcaption></figure>

Use the default RiPrecision UAV parameters:

<figure><img src="/files/cxYhg8JVWMTVE8WHUFJX" alt=""><figcaption></figcaption></figure>

In most cases, use the non-rigid with translation adjustment mode:

<figure><img src="/files/t8heeOcq80qbckZUjTN8" alt=""><figcaption></figcaption></figure>

RiPrecision will display a report, which indicates the trajectory adjustment applied. Ensure that excessive adjustment did not occur. Adjustments in position should typically be less than 0.10 m, while adjustments in attitude should be less than 0.20 degrees:

<figure><img src="/files/uPEZ5bCXHcksxjSqm1ik" alt=""><figcaption></figcaption></figure>

Note that the result of RiPrecision is an optimized trajectory, so now the project has two trajectories:

<figure><img src="/files/qAaIaMH0YlNuLGbeKLTG" alt=""><figcaption></figcaption></figure>


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