# Aerial Trajectory Optimization

The aerial trajectory optimization preset uses a 10 second **Trajectory Adjustment Rate** with only the **Up** parameter enabled for optimization:

<figure><img src="https://2222094320-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FdEevfLZRIk38LUPwDa4V%2Fuploads%2FT7PUUkh7jafkrQsRnsJk%2Fimage.png?alt=media&#x26;token=da0bd2f8-31de-4205-9bb9-fa5eac8b1da6" alt=""><figcaption></figcaption></figure>

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.&#x20;

{% hint style="info" %}
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.&#x20;
{% endhint %}