If I would answer this question simply....
1. か is always the marker of "this is a question!!", which always appears after 丁寧体(ていねいたい polite form).
Ex. まいにち、にほんごを べんきょうしますか。
いま、どこに いますか。
Then, if you change sentences into 普通体(ふつうたい、normal form), your sentences would be...
まいにち べんきょうする ?
いま、どこにいる?
2. But sometimes sentences in normal form sound a little strong, direct, or too frank. So, some people (mostly woman, kid but sometimes men too, without any connotation) would like to put の after the sentences. It is done to show the friendliness, sympathy etc.
まいにち べんきょうするの?
いま どこに いるの?
Note: の basically has a some function with んです (みんなの日本語Lec26). But after normal form, it can sound differently from んです. So when you use の、it is better to be careful to the intonation of your speech.
I hope I explained in a good way !!
Very very good and difficult question !