Aerial Trajectory Optimization

The aerial trajectory optimization preset uses a 10-second trajectory adjustment rate with only the Up parameter enabled for optimization:

This will result in a single vertical adjustment for each 10-second section of the trajectory. This works well to correct for vertical drift between different flight lines in an aerial dataset. Using a relatively slow Trajectory Adjustment Rate restricts the optimizer from applying sudden adjustments along the trajectory, and ensures that ample observations are used when computing each adjustment.

Aerial data sets may require optimization of Yaw, in addition to Up. Determination of heading (or yaw) with most lidar systems utilizes the system's course-over-ground as determined by GNSS (kinematic alignment). This process can sometimes result in a poor heading determination, and thus yaw should possibly be considered for optimization.