Post-processing kinematic (PPK)

PX4 workflow

Get obs file from ULog by extracting gps_dump.data (RTCM3) and converting to obs file using RTKCONV
Get base station data (obs file and nav files) eg from WSRN (SSHO station, RINEX v3.03); NB: time is in GPST
Use RTKPOST w/ “kinematic” type using obs file from drone ULog as rover data, and obs file from base station and PATH/TO/NAV/FILES/.25* files as nav files to solve for pos file for drone
Use helper script to create csv with new time column where first timestamp matches ULog gps_dump timestamp for PlotJuggler plotting