Hi Sookfun,
You can use that shield and GPS from Sparkfun. There is a little switch to select UART or DLINE, where you will need to use UART with the Galileo board, since you can't run serial communications on the other pins (no SoftSerial functions).
It's usually not a problem to use older shields on the newer boards, and in the vast majority of the cases, also no problem the other way around (newer shields on older boards).
The difference is a few extra pins on the new R3 footprint (2 for I2C connection, one for I/O voltage reference and one reserved for future use), nothing that is required in this case.
/Thomas
