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Yes, I recently found this package from ETH Zurich:

https://github.com/ethz-asl/rtklibros

You can even find the associated report in the repository: https://github.com/ethz-asl/rtklibros/blob/master/documents/Grieneisen_SA_Final.pdf

I don't know that you should expect centimeter-level accuracy online with something like the uBlox receivers, but it should be better than a single-ended solution.

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