Because the reference GPS receiver at our base station knows exactly where it is, it can estimate the effects of atmospheric conditions that cause signal delays. It can then calculate corrections for those delays and send them to the GPS receivers on the boats; those corrections are necessary to get that 2-cm position accuracy. There are currently 31 satellites operating as part of the GPS system; a receiver typically needs to be able to receive transmissions from four of them in order to pinpoint its location.
On occasion, a boat's own carbon wing or the wing of a nearby boat blocks so many satellites that we lose the ability to track its position via GPS.
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