Part 107 UAS pilot reported flying in controlled airspace without authorization.

Narrative

Working scanning operations for under Part 107; RPIC failed to verify airspace in the vicinity of the operation. After review of the day and flight; it was found we operated in Class D airspace without LAANC or an airspace authorization waiver. We are self-reporting this oversight; which highlighted the need to reinforce airspace awareness during operations. Moving forward this will directly impact our operations by adding redundant airspace verification's into our process. The vast majority of the sites previously scanned in the area were in uncontrolled airspace; leading to complacency of controlled airspace verification. We had a Visual Observer during the entirety of the operation and verified no aircraft operating in the vicinity of the scan. Corrective Action: Morning of or night before; brief the entire crew for the areas we are operating in is our current process. Once the crew arrives on site; completing a double check of the surrounding area for controlled airspace will be added for redundancy.