Many of the earlier GPS had external antennas. Newer technology, both on the transmitting end (satellites) and the MFD with more sensitive receivers, along with the "Selective Availability" turned off, makes the GPS more accurate. Many now can use the "Galileo" "The EU system; "Glonass" the Russian System; and "BeiDou" Chinese system. Also the refresh rate has come down to 10 hz. Also there is the Real Time Kinematics, such as Point one, which gives accuracy in the cm range.
All of these will work in vehicles and thru normal house roofs etc, let alone the fiberglass layer of a C Dory.