> 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/trajectory-processing/navlab-trajectory-processing-and-upload/navlab-processing.md).

# NavLab Processing

Click the LiDARMILL Icon at the top toolbar to access NavLab

![](/files/-M_7fyWhLKOebu2TlCst)

Click **Start Navlab...** at the bottom right

![](/files/-M_7v9MmAxmkjxufAeOz)

Select the desired LiDARMill Project from the dropdown at the top of the window, then click **Next >**

![](/files/-M_7vc-rflJSuILPudGu)

Verify Rover IMU/GNSS Lever Arms and VBRs are correct and click **Next>**

![](/files/-M_7w3bgGPyob5N_J4wr)

Select Reference Station(s) and verify reference station coordinates, antenna height, and antenna model, then click **Next >**.

![](/files/-M_7xQNm49c05r6PxBKm)

Select desired output trajectory datum, then click **Finish**

![](/files/-M_7xkbpPFz5myL6mXN9)

Navlab will then begin processing pipelines. If the status is Failure, there is likely an issue with either the rover configuration or reference station configuration. These parameters likely need to be corrected before starting a new navlab pipeline. 

If the status is "Success", you can proceed to download the post processed trajectory file. 

Click on the pipeline name on the left under **Pipelines**, and then select the postprocessed trajectory under **Pipeline Artifacts**, and click the folder icon to the left of it. 

![](/files/-M_86FRBExo-kVarRYiM)

Navigate to the folder with the project PLP file, and click **Select Folder**. Enable all trajectory files you wish to export and click **OK**.

![](/files/-M_872XHDc66fWyCW1iw)

Close out of the LiDARMill window. Then use **File-> Open File** and Navigate to the Navlab Trajectory file (CTS/CLS/POF Recommended). Both the raw and the post processed trajectories are populated under **Trajectories** in the Project Window and displayed.

![](/files/-M_889rkwRDcCDRjpxST)