Maids of honour were young, unmarried girls who attended the Queen. They were of noble birth, and came to court as a form of finishing school. This would help them to make good marriages later.
The Yeomen of the Guard were the monarch's bodyguards. The Yeomen were created by Henry VII in 1485; they are the oldest British military corps still in existence.
The guards still wear red and gold Tudor-style uniforms today.