The application rawlog-edit can be used to very easily export data gathered from GPS sensors into KML files, which can be then viewed with Google Earth or from Google Maps (if the .kml file is put somewhere online).
To achieve this, simply invoke rawlog-edit as:
rawlog-edit --export-gps-kml -i dataset.rawlog
And a KML file will be generated with:
Below can be seen an example from an RTK GPS sensor mounted on a car driving by Málaga, with only some parts of "RTK Fixed" coberture. If you click on "view larger map" you'll be able to show/hide the different layers.