> For the complete documentation index, see [llms.txt](https://docs-7.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-7.phoenixlidar.com/lidarmill-desktop/workflow-kk/lidarsnap-v4/trajectory-optimization/mobile-trajectory-optimization.md).

# Mobile Trajectory Optimization

The mobile trajectory optimization preset optimizes for all parameters (**south, east, up, roll, pitch, yaw**) using the **linear dense optimization** model. This optimization model uses the **dense mode interval** parameter to split the trajectory into segments and computes a correction for each segment. 

<figure><img src="/files/TkxiJsu7B0Av4HVqL7GR" alt=""><figcaption></figcaption></figure>

Generally speaking, this is a more aggressive optimization routine than the Aerial preset. Mobile data sets 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 **Dense Mode Interval** 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 adjustment is required, considering disabling **Preserve Local Trajectory Shape**, as this parameter will restrict the optimizer from performing sudden adjustments, which may indeed be required.&#x20;