Spike in SP innovations causing copter to move aggressively in RTK

Hi all, I am trying to find the cause of an innovation spike. GPS stated it was in RTK float. The drone was just doing a hover and randomly flew in one direction then back until its regained position. At the point, the SP innovation spiked the Hacc and Vacc of the GPS dropped to 0.01.

800mm frame
KDE4014 motors with 18.5" props
Tmotor F35 ESCs
Cube orange FC
LW20 laser altimeter
Here3 GPS