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1 1.1 How many satellites and orbit planes exist for GPS, GLONASS, and Galileo? What are the respective orbit plane inclinations?

2 1.2 List the differences in signal characteristics between GPS, GLONASS, and Galileo.

3 1.3 What are the reference points for GNSS and INS navigators? That is, when one of these produces a position estimate, what part of the respective system is that the position of?

4 1.4 Would an error‐free accelerometer attached to a GNSS satellite orbiting the Earth have any output? Why or why not?

5 1.5 Does the same fish, weighed on the same spring scale, appear to weigh more (as indicated by the stretching of the spring) at sea level on the equator or at the North Pole? Justify your answer.