I thought that array of GPS satellites was
geostationary. That is, they "hover" over the same spot on the surface of the Earth, and do not move, relative to the Earth, and are uniformly 22 000 miles up, where the laws of physics allow geosynchronicity. We calculated that height in my UC-Berkeley engineering class, back in 1964 at the dawn of the space age, when even then my Silicon Valley-bound classmates were foreseeing GPS.
But as the Wikipedia article points out, nothing is perfect. And even those satellites can drift as a result of "solar wind," and other effects. So perhaps Janet is correct; those satellites move too.