I am posting an RTKPLOT of tests run with Reach in an urban environment.
Although unable to get a consistent FIX, the FLOAT mode appears adequate in this test to get decimeter - meter accuracy. The Google Earth plot shows two processes of Rover data.
The yellow trace is relative to a 2.5KM GPS base station. The red trace is relative to a 13.5KM GPS+GLO base station. The two plots are mostly within fractions of a meter except during turns. I was experimenting with dynamic mode settings which may contribute to differences in the turns.
RTKPOST was the developmental RTKEXPLORER 18.104.22.168-Demo4
Adding IMU can help in road overpasses.