Hi,
there are at least two user made programs to solve your problem.
For the PKK point extracter software you need to process your survey in kinematic mode and the the programm will average the positions in your CSV file from the resulting track.
My programm uses the cmd line version of RTKpost to process each survey point individually in static mode and afterwards it averages the position from 25% of the solutions with the highest quality.
Other than the first mine is not for free but I expect you to share your benefit by donating. At the otherhand I could integrate some of your wishes if you do so.