RNP APCH is a normal RNAV approach as you are referring to. It is labelled RNAV (GNSS/GPS) on an approach chart.
RNP-AR APCH is a RNP (normally with RF Leg after FAP). It is labelled RNAV (RNP) on an approach chart.
You will need to read up on the requirements for RNP APCH.