Under the ICAO Performance-Based Navigation (PBN) manual (Doc 9613), what is the fundamental defining difference between an RNAV specification and an RNP specification?

1. RNP specifications require on-board performance monitoring and alerting (OBPMA), whereas RNAV specifications do not
2. RNAV is used exclusively for satellite navigation, while RNP uses only ground-based VOR/DME
3. RNP is used solely by military fighters, while RNAV is for commercial airliners
4. RNAV requires two flight navigators on board, while RNP is fully automated