Here is how you do PPK (Post-Processed Kinematics).
Set parameter ‘GPS_RAW_DATA 1’
Download the log after the flight, go to mission planer “Data flash logs” tab and click “Create KML + gpx” and click. Select the *.bin file that you downloaded from your copter.
In the same directory where your log was, you will find KML, gpx and .obs file.
*.obs file is actually RINEX file that contains GNSS observations of the copter GNSS (rover).
Get your base station data, whether from your physical base station, your national CORS (Continiously Operating Reference Station) or VRS (Virtual Reference Station). I personally use national VRS. I prefer data in the RINEX 3.02 format (fi you are using HERE+ base station convert *.ubx data to RINEX). You will get the data with the extension such as *.17o and such as *.17n or *.17g.
*.17o is observation file, *.17n and *.17g files are satellite navigation files (*.17n for GPS and *.17g for GLONASS).
Now you have the data needed for the processing.
I am using RTKLIB demo5.b31 version (http://rtkexplorer.com/downloads/rtklib-code/) since I had least problems with it.
Set up the parameters such as on this two screenshots.
I use Static Start since it is basically Kinematics with the static start. Also setting up the frequency to L1 should make no difference in this case because HERE+ records only L1 data. Regarding the filter type, test and find out what works the best for your specific case.
Here is some literature - https://rtklibexplorer.wordpress.com/2018/11/27/updated-guide-to-the-rtklib-configuration-file/
Here is the result of the processing and plotting the data of one flight 64% fixed solutions and 35% float solutions.
Very important to set up Base station coordinate to RINEX header position
I’m not saying this is the reference case of “HOW-TO” PPK, but I think it is nice to have it written in one post on the forum.
Thank you, it is nice to see some progress on this subject! Commercial solutions are a bit ahead of the open source at the moment and it is nice to see that somebody is working on this!