# Mobile Trajectory Optimization

The mobile trajectory optimization preset optimizes for all parameters (**south, east, up, roll, pitch, yaw**) using a 2 second **Trajectory Adjustment Rate**. 

<figure><img src="https://2222094320-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FdEevfLZRIk38LUPwDa4V%2Fuploads%2FXMJ0xP2o1TyqpxRD288k%2Fimage.png?alt=media&#x26;token=e278f57a-f224-48cb-82d4-34fd30f099d1" alt=""><figcaption></figcaption></figure>

Generally speaking, this is a more aggressive optimization routine than the Aerial preset. Mobile datasets commonly suffer from low-quality GNSS data and unideal vehicle dynamics, so a more aggressive trajectory optimization routine is preferred.&#x20;

Users can modify the **Trajectory Adjustment Rate** parameter to control the frequency that adjustment is performed. Increasing this parameter to about 5 seconds may be ideal when the processed trajectory quality is high and frequent adjustment is not necessary.

{% hint style="info" %}
If your processed trajectory quality is high (as determined by attitude and position separation plots, satellite observation plots, and estimated accuracy plots), it is recommended that you disable optimizing the **East** and **South** parameters, as the horizontal component of your position is likely not in need of optimization.&#x20;
{% endhint %}

If significant adjustment is required, consider disabling **Preserve Local Trajectory Shape**, as this parameter will restrict the optimizer from performing sudden adjustments, which may be required.&#x20;