# 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
* Click "Next"

![](/files/-M_7xQNm49c05r6PxBKm)

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

![](/files/-M_7xkbpPFz5myL6mXN9)

* Navlab will 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
* File > Open File > Navigate to Navlab Trajectory file (CTS/CLS/POF Recommended)  > Open
*  Both the raw and the post processed trajectories are populated under "Trajectories" in the Project Window, and displayed

![](/files/-M_889rkwRDcCDRjpxST)


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