Airborne Trajectory Optimization

The airborne trajectory optimization preset uses a Bias optimization model with only the Up parameter enabled for optimization:

This will result in a single vertical adjustment for each flight line. This works well to correct for vertical drift between different flight lines in an aerial dataset. Applying only a single adjustment per flight line 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.