diff --git a/python/fusion_engine_client/analysis/analyzer.py b/python/fusion_engine_client/analysis/analyzer.py
index a1925d5c..ab80833c 100755
--- a/python/fusion_engine_client/analysis/analyzer.py
+++ b/python/fusion_engine_client/analysis/analyzer.py
@@ -911,8 +911,17 @@ def _plot_pose_displacement(self, title='Pose Displacement', reference=None):
                 reference_ecef_m = position_ecef_m[:, 0]
                 title_suffix = ' From First Position'
             elif reference == 'median':
-                reference_ecef_m = position_ecef_m[:, 0]
+                reference_ecef_m = np.median(position_ecef_m, axis=1)
                 title_suffix = ' From Median Position'
+            elif reference == 'median_fixed':
+                idx = solution_type == SolutionType.RTKFixed
+                if np.any(idx):
+                    reference_ecef_m = np.median(position_ecef_m[:, idx], axis=1)
+                    title_suffix = ' From Median Fixed Position'
+                else:
+                    self.logger.warning('No fixed positions available. Using median as displacement plot reference.')
+                    reference_ecef_m = np.median(position_ecef_m, axis=1)
+                    title_suffix = ' From Median Position'
             else:
                 raise ValueError('Unrecognized reference specifier.')
         else:
diff --git a/python/fusion_engine_client/messages/measurements.py b/python/fusion_engine_client/messages/measurements.py
index a44d54f7..1c33f5e4 100644
--- a/python/fusion_engine_client/messages/measurements.py
+++ b/python/fusion_engine_client/messages/measurements.py
@@ -1398,6 +1398,8 @@ def __str__(self):
   Solution Type: {self.solution_type}
   Relative position (ENU) (m): {self.relative_position_enu_m[0]:.2f}, {self.relative_position_enu_m[1]:.2f}, {self.relative_position_enu_m[2]:.2f}
   Position std (ENU) (m): {self.position_std_enu_m[0]:.2f}, {self.position_std_enu_m[1]:.2f}, {self.position_std_enu_m[2]:.2f}
+  Baseline distance (m): {np.linalg.norm(self.relative_position_enu_m):.2f}
+  Baseline std (m): {np.sqrt(np.sum(self.position_std_enu_m ** 2)):.2f}
   YPR (deg): {ypr_deg[0]:.2f}, {ypr_deg[1]:.2f}, {ypr_deg[2]:.2f}"""
 
     @classmethod