The railway industry is constantly growing to meet the demand of society for stable, accessible and sustainable transportation. With this growth, the need for the railway to be reliable increases, requiring frequent surveying and maintenance. Fugro's RILA (Rail Infrastructure aLignment Acquisition) mobile mapping system contributes by making the surveying more accessible to the relevant railway network stakeholders. However, the system has its limitations in environments where the GNSS (Global Navigation Satelite System) signal is occluded, such as tunnels and underground stations. The geo-data collected by RILA in those areas is poorly georeferenced due to the poorly tracked trajectory of the system, which introduces spatial data misalignment up to a meter or more. The current methods to fix data misalignment rely on manual data corrections, which is not cost-effective, or on automatic solutions, which have limited applicability.

Thus, the aim of this research is to develop an improved trajectory optimization method, thereby ensuring accurate geo-referencing and alignment of the survey data. This thesis proposes a newly developed methodology to achieve this aim: features are extracted from point cloud surveys, matched and utilized by g2o optimizer and GNSS processing software to optimize the trajectory. The development is described and results are evaluated on two different scales - locally, within a point cloud tile and globally, within a sequence of tiles. It is done by using Glasgow's underground railway network as a test case.

Results from the implementation demonstrate significant improvements in trajectory accuracy - a misalignment of point cloud data was reduced from a 1.5 m to a cm level within an optimization time frame that took approximately 10 hours. This improvement in accuracy was present under different complex environments using both the local and global versions of the algorithm. However, the area near the railway tunnel entrance saw a limited benefit from the implementation of the proposed algorithm.

In conclusion, the developed trajectory optimization algorithm optimizes the trajectory and improves the alignment of the survey data. Moreover, the method outperforms the currently employed solutions by being automatic and applicable in different environments. However, further research is required to optimize the algorithm itself (accuracy and computationally speed of the algorithm) and to more accurately define its limitations in terms of the surveyed environments.

The purpose of this thesis is to do quality assessment of GNSS/IMU derived NAP heights for The Netherlands (NAP) using Fugro RILA technique and the RDNAPTRANS2018 published by Rijkswaterstaat. The use of Global Navigation Satellite System (GNSS) is growing rapidly in order to determine the position (both horizontal and vertical). However, the GNSS is only able to give the geometric height which is the position on the ellipsoid, which have a drawback that the surface of constant ellipsoidal height are not equipotential surface, and hence these heights need to be transformed into traditional height systems such as the Normaal Amsterdam Peil (NAP) used in The Netherlands. In order to derive these NAP heights from the GNSS heights, a (quasi-) geoid model along with corrector surface model is used to convert from one height to another. In this study the newly computed local quasi geoid model NLGEO2018 rather than the NLGEO2008 is adapted using RDNAPTRANS2018 along with Fugro Rail Infrastructure aLignment Acquisition (RILA) technique which makes use of GNSS/IMU to obtain ellipsoidal height. It was found upon using the older transformation procedure RDNAPTRANS2008, which makes use of NLGEO2008, a mismatch in the order of 17mm between the NAP and GNSS-derived NAP from RILA. This error is not only due to the geoid itself but also the systematic errors in the different height system. However, this new geoid NLGEO2018 along with the new transformation procedure of RDNAPTRANS2018 allows a more accurate conversion of ellipsoidal to normal heights and this study focuses on this quality assessment of the new GNSS/IMU derived NAP heights and investigate how well NAP heights be obtained using RILA technique based on the new geoid. It was found with the use of the new geoid and the new transformation model RDNAPTRANS2018, the mean height difference was reduced from 12mm to 3.6mm showing a better fit of GNSS heights to NAP heights. An error budget was also calculated, to understand the reliability of these RILA measurements with the NAP heights. This error budget includes all the uncertainties from all error sources, namely RILA derived height, geoid height and the levelled height, followed by hypothesis testing. The highest uncertainty was from GNSS/IMU measurements from RILA system followed by the levelling and then the gravimetric quasi-geoid. Finally from this analysis, areas where the terrestrial surveying can be avoided was found. It was found that near the stations, tunnels, high vegetation had the highest uncertainty due to poor GNSS reception. It was also found that level crossing also showed a constant systematic offset between the two heights potentially due to the materials of the level crossings.