This chapter serves as an in-depth exploration of the Global Navigation Satellite System (GNSS), dissecting its space, ground, and user segments. It opens with a comprehensive analysis of the space segment, detailing the development of orbital movement models and discussing various reference coordinate systems, including Earth-centered inertial (ECI), Earth-centered, Earth-fixed (ECEF), and geodetic spherical coordinates, along with map projections like the Mercator and Miller projections. The dynamics of satellites are thoroughly examined, describing orbital parameters and satellite motion. The ground segment section delves into topics such as orbit and time maintenance, covering aspects like Global Positioning System (GPS) time, and multi-GNSS time, as well as navigation data across different GNSS systems like GPS, BeiDou, Galileo, and GLObal NAvigation Satellite System (GLONASS). The chapter also addresses the user segment, focusing on methodologies for positioning, including least square estimation (LSE) and the Kalman filter. It further incorporates a discussion on two orbit representations, namely, through Keplerian parameters and tabulated parameters, highlighting their relevance in GNSS applications. Additionally, the chapter presents unique features specific to certain GNSS, such as the transformation of GLONASS almanac data into Keplerian parameters, offering insights into the nuanced differences and specificities of various GNSS systems.