I used to power Revo with 5V BEC. When you check git repository, there are schematics (verify yourself if in doubt). According to schematics, there are three 3.3 regulators U1, U2 and U9 which power up the internals. Servo headers on another hand are all connected together and to unregulated pin, that also goes into the GPS uart. That means that main-port and other output/input ports will have the same voltage as you feed into Revo. So if your GPS units can't accept 5V then you might be in trouble. Otherwise as long as your Revolution board is as in original schematics (not modified) then powering with 5V should be fine. Person that produced that board, should state what voltage is required.