Precise positioning with a stand-alone GPS receiver or using differential corrections is known to be strongly degraded in a constrained environment (urban or sub-urban conditions) due to frequent signal masking, strong multipath effect, frequent cycle slips on carrier phase, etc. The objective of this work is to explore the possibility of achieving precise positioning with a low-cost architecture: using multiple low-cost receivers with known geometry to enable the vehicle attitude determination and RTK performance amelioration. In this paper, we firstly use a method that includes an array of receivers with known geometry to enhance the performance of the RTK in different environments. Taking advantage of the attitude information and the known geometry of the array of receivers, the improvement of some internal steps of RTK precise positioning can be realized. This concept is tested on real data sets, where different scenarios are conducted including varying the distance between the 2 antennas of the receiver array and the environmental conditions (open sky, suburban, and constrained urban environments). The results show that our multi-receiver RTK system is more robust to degraded GNSS environment in terms of ambiguity fixing rate and gets a better position accuracy under the same conditions when comparing with the single receiver system.