Accuracy comes at a price. Starfire (John Deere) and OmniStar (Trimble) are subscription contracts with several levels of service down to 2.5cm if needed.
OmniStar is global and would work on a vessel. Both systems correct for pitch,roll,and yaw.
Free correction is available through NOAA, they collect info from CORS (Continuously Operating Reference Station). The RTK bases are both public and privately maintained, you would still need a L1/L2 capable receiver. CORS operates in most states. The nearest base for us is Natchez,Ms., it is maintained by the University of Southern Mississippi. I think CORS was established to create flood zone maps and to have a known reference for elevation in response to a natural disaster.
This should be the CORS RTK for Michigan
https://mdotcors.org/spiderweb/frmIndex.aspxHere is Mississippi
http://rtn.usm.edu/