diff --git a/boards/sim/sim/sim/configs/minmea/defconfig b/boards/sim/sim/sim/configs/minmea/defconfig
index 88b5730777b..5cb45cdd193 100644
--- a/boards/sim/sim/sim/configs/minmea/defconfig
+++ b/boards/sim/sim/sim/configs/minmea/defconfig
@@ -36,7 +36,7 @@ CONFIG_FS_PROCFS=y
 CONFIG_FS_RAMMAP=y
 CONFIG_FS_ROMFS=y
 CONFIG_GPIO_LOWER_HALF=y
-CONFIG_GPSUTILS_MINMEA_LIB=y
+CONFIG_GNSSUTILS_MINMEA_LIB=y
 CONFIG_IDLETHREAD_STACKSIZE=4096
 CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_IOEXPANDER=y
diff --git a/drivers/sensors/CMakeLists.txt b/drivers/sensors/CMakeLists.txt
index ded93405160..7f1a998a162 100644
--- a/drivers/sensors/CMakeLists.txt
+++ b/drivers/sensors/CMakeLists.txt
@@ -29,11 +29,11 @@ if(CONFIG_SENSORS)
     list(APPEND SRCS sensor_rpmsg.c)
   endif()
 
-  if(CONFIG_SENSORS_GPS)
+  if(CONFIG_SENSORS_GNSS)
     set_source_files_properties(
-      gps_uorb.c DIRECTORY ${CMAKE_CURRENT_LIST_DIR}/..
-      PROPERTIES INCLUDE_DIRECTORIES ${NUTTX_DIR}/libs/libc/gpsutils)
-    list(APPEND SRCS gps_uorb.c)
+      gnss_uorb.c DIRECTORY ${CMAKE_CURRENT_LIST_DIR}/..
+      PROPERTIES INCLUDE_DIRECTORIES ${NUTTX_DIR}/libs/libc/gnssutils)
+    list(APPEND SRCS gnss_uorb.c)
   endif()
 
   if(CONFIG_SENSORS_WTGAHRS2)
@@ -44,8 +44,8 @@ if(CONFIG_SENSORS)
     list(APPEND SRCS fakesensor_uorb.c)
   endif()
 
-  if(CONFIG_SENSORS_GOLDFISH_GPS)
-    list(APPEND SRCS goldfish_gps_uorb.c)
+  if(CONFIG_SENSORS_GOLDFISH_GNSS)
+    list(APPEND SRCS goldfish_gnss_uorb.c)
   endif()
 
   if(CONFIG_SENSORS_GOLDFISH_SENSOR)
diff --git a/drivers/sensors/Kconfig b/drivers/sensors/Kconfig
index 378cff68e4e..e26e87b376f 100644
--- a/drivers/sensors/Kconfig
+++ b/drivers/sensors/Kconfig
@@ -24,19 +24,19 @@ config SENSORS_RPMSG
 	---help---
 		Allow application to read or control remote sensor device by RPMSG.
 
-config SENSORS_GPS
-	bool "GPS Support"
+config SENSORS_GNSS
+	bool "GNSS Support"
 	default n
-	depends on GPSUTILS_MINMEA_LIB
+	depends on GNSSUTILS_MINMEA_LIB
 	---help---
-		Allow application to use gps by /dev/uorb/gps or /dev/ttyGPS
+		Allow application to use GNSS by /dev/uorb/gnss or /dev/ttyGNSS
 
-config SENSORS_GPS_RECV_BUFFERSIZE
-	int "The size of recvive buffer for nmea message in gps driver"
+config SENSORS_GNSS_RECV_BUFFERSIZE
+	int "The size of recvive buffer for nmea message in GNSS driver"
 	default 2048
-	depends on SENSORS_GPS
+	depends on SENSORS_GNSS
 	---help---
-		The size of recvive buffer for nmea message in gps driver, if
+		The size of recvive buffer for nmea message in GNSS driver, if
 		the nmea message happen overwrite when driver push, you can increase
 		the size.
 
@@ -46,11 +46,11 @@ config SENSORS_WTGAHRS2
 	---help---
 		We can read sensor data by serial interface. It need the hardware sensor
 		wtgashrs2(JY901) as data source. This sensor can generate accelerometer,
-		gyroscope, magnetic, barometer and gps data.
+		gyroscope, magnetic, barometer and GNSS data.
 
 config SENSORS_FAKESENSOR
 	bool "Fake Sensor Support"
-	depends on SENSORS_GPS
+	depends on SENSORS_GNSS
 	default n
 	---help---
 		Simulate physical sensor by reading data from csv file.
@@ -65,9 +65,9 @@ config SENSORS_FAKESENSOR
 		2.1234,3.23443,2.23456
 		...
 
-config SENSORS_GOLDFISH_GPS
-	bool "Goldfish GPS Support"
-	depends on SENSORS_GPS
+config SENSORS_GOLDFISH_GNSS
+	bool "Goldfish GNSS Support"
+	depends on SENSORS_GNSS
 	default n
 
 config SENSORS_GOLDFISH_SENSOR
diff --git a/drivers/sensors/Make.defs b/drivers/sensors/Make.defs
index ce27653572d..8a9f052cb2d 100644
--- a/drivers/sensors/Make.defs
+++ b/drivers/sensors/Make.defs
@@ -32,8 +32,8 @@ ifeq ($(CONFIG_SENSORS_RPMSG),y)
   CSRCS += sensor_rpmsg.c
 endif
 
-ifeq ($(CONFIG_SENSORS_GPS),y)
-  CSRCS += gps_uorb.c
+ifeq ($(CONFIG_SENSORS_GNSS),y)
+  CSRCS += gnss_uorb.c
 endif
 
 ifeq ($(CONFIG_SENSORS_WTGAHRS2),y)
@@ -44,8 +44,8 @@ ifeq ($(CONFIG_SENSORS_FAKESENSOR),y)
   CSRCS += fakesensor_uorb.c
 endif
 
-ifeq ($(CONFIG_SENSORS_GOLDFISH_GPS),y)
-  CSRCS += goldfish_gps_uorb.c
+ifeq ($(CONFIG_SENSORS_GOLDFISH_GNSS),y)
+  CSRCS += goldfish_gnss_uorb.c
 endif
 
 ifeq ($(CONFIG_SENSORS_GOLDFISH_SENSOR),y)
diff --git a/drivers/sensors/fakesensor_uorb.c b/drivers/sensors/fakesensor_uorb.c
index 8d232f84812..d7326940dce 100644
--- a/drivers/sensors/fakesensor_uorb.c
+++ b/drivers/sensors/fakesensor_uorb.c
@@ -36,7 +36,7 @@
 #include <nuttx/semaphore.h>
 #include <nuttx/sensors/fakesensor.h>
 #include <nuttx/sensors/sensor.h>
-#include <nuttx/sensors/gps.h>
+#include <nuttx/sensors/gnss.h>
 #include <nuttx/signal.h>
 #include <debug.h>
 
@@ -49,7 +49,7 @@ struct fakesensor_s
   union
     {
       struct sensor_lowerhalf_s lower;
-      struct gps_lowerhalf_s gps;
+      struct gnss_lowerhalf_s gnss;
     };
 
   int type;
@@ -74,11 +74,11 @@ static int fakesensor_set_interval(FAR struct sensor_lowerhalf_s *lower,
 static int fakesensor_batch(FAR struct sensor_lowerhalf_s *lower,
                             FAR struct file *filep,
                             FAR uint32_t *latency_us);
-static int fakegps_activate(FAR struct gps_lowerhalf_s *lower,
-                            FAR struct file *filep, bool sw);
-static int fakegps_set_interval(FAR struct gps_lowerhalf_s *lower,
-                                FAR struct file *filep,
-                                FAR uint32_t *period_us);
+static int fakegnss_activate(FAR struct gnss_lowerhalf_s *lower,
+                             FAR struct file *filep, bool sw);
+static int fakegnss_set_interval(FAR struct gnss_lowerhalf_s *lower,
+                                 FAR struct file *filep,
+                                 FAR uint32_t *period_us);
 static void fakesensor_push_event(FAR struct fakesensor_s *sensor,
                                   uint64_t event_timestamp);
 static int fakesensor_thread(int argc, char** argv);
@@ -94,10 +94,10 @@ static struct sensor_ops_s g_fakesensor_ops =
   .batch = fakesensor_batch,
 };
 
-static struct gps_ops_s g_fakegps_ops =
+static struct gnss_ops_s g_fakegnss_ops =
 {
-  .activate = fakegps_activate,
-  .set_interval = fakegps_set_interval,
+  .activate = fakegnss_activate,
+  .set_interval = fakegnss_set_interval,
 };
 
 /****************************************************************************
@@ -194,7 +194,7 @@ static inline void fakesensor_read_gyro(FAR struct fakesensor_s *sensor,
                     sizeof(struct sensor_gyro));
 }
 
-static inline void fakesensor_read_gps(FAR struct fakesensor_s *sensor)
+static inline void fakesensor_read_gnss(FAR struct fakesensor_s *sensor)
 {
   char raw[150];
 
@@ -202,8 +202,8 @@ static inline void fakesensor_read_gps(FAR struct fakesensor_s *sensor)
     {
       fakesensor_read_csv_line(&sensor->data, raw,
                                sizeof(raw), sensor->raw_start);
-      sensor->gps.push_data(sensor->gps.priv, raw,
-                            strlen(raw), true);
+      sensor->gnss.push_data(sensor->gnss.priv, raw,
+                             strlen(raw), true);
       if (strstr(raw, "GGA") != NULL)
         {
           break;
@@ -232,8 +232,8 @@ static int fakesensor_activate(FAR struct sensor_lowerhalf_s *lower,
   return OK;
 }
 
-static int fakegps_activate(FAR struct gps_lowerhalf_s *lower,
-                            FAR struct file *filep, bool enable)
+static int fakegnss_activate(FAR struct gnss_lowerhalf_s *lower,
+                             FAR struct file *filep, bool enable)
 {
   return fakesensor_activate((FAR void *)lower, filep, enable);
 }
@@ -248,9 +248,9 @@ static int fakesensor_set_interval(FAR struct sensor_lowerhalf_s *lower,
   return OK;
 }
 
-static int fakegps_set_interval(FAR struct gps_lowerhalf_s *lower,
-                                FAR struct file *filep,
-                                FAR uint32_t *period_us)
+static int fakegnss_set_interval(FAR struct gnss_lowerhalf_s *lower,
+                                 FAR struct file *filep,
+                                 FAR uint32_t *period_us)
 {
   return fakesensor_set_interval((FAR void *)lower, filep, period_us);
 }
@@ -292,9 +292,9 @@ void fakesensor_push_event(FAR struct fakesensor_s *sensor,
       fakesensor_read_gyro(sensor, event_timestamp);
       break;
 
-    case SENSOR_TYPE_GPS:
-    case SENSOR_TYPE_GPS_SATELLITE:
-      fakesensor_read_gps(sensor);
+    case SENSOR_TYPE_GNSS:
+    case SENSOR_TYPE_GNSS_SATELLITE:
+      fakesensor_read_gnss(sensor);
       break;
 
     default:
@@ -430,10 +430,10 @@ int fakesensor_init(int type, FAR const char *file_name,
 
   /*  Register sensor */
 
-  if (type == SENSOR_TYPE_GPS || type == SENSOR_TYPE_GPS_SATELLITE)
+  if (type == SENSOR_TYPE_GNSS || type == SENSOR_TYPE_GNSS_SATELLITE)
     {
-      sensor->gps.ops = &g_fakegps_ops;
-      gps_register(&sensor->gps, devno, batch_number);
+      sensor->gnss.ops = &g_fakegnss_ops;
+      gnss_register(&sensor->gnss, devno, batch_number);
     }
   else
     {
diff --git a/drivers/sensors/gps_uorb.c b/drivers/sensors/gnss_uorb.c
similarity index 59%
rename from drivers/sensors/gps_uorb.c
rename to drivers/sensors/gnss_uorb.c
index f9e42e600a2..c3420de013b 100644
--- a/drivers/sensors/gps_uorb.c
+++ b/drivers/sensors/gnss_uorb.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * drivers/sensors/gps_uorb.c
+ * drivers/sensors/gnss_uorb.c
  *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
@@ -27,7 +27,7 @@
 #include <nuttx/kmalloc.h>
 #include <nuttx/mm/circbuf.h>
 #include <nuttx/sensors/sensor.h>
-#include <nuttx/sensors/gps.h>
+#include <nuttx/sensors/gnss.h>
 
 #include <fcntl.h>
 #include <poll.h>
@@ -38,36 +38,36 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
-#define GPS_PATH_FMT          "/dev/ttyGPS%d"
+#define GNSS_PATH_FMT          "/dev/ttyGNSS%d"
 
-#define GPS_IDX               0
-#define GPS_SATELLITE_IDX     1
-#define GPS_MAX_IDX           2
+#define GNSS_IDX               0
+#define GNSS_SATELLITE_IDX     1
+#define GNSS_MAX_IDX           2
 
-#define GPS_PARSE_BUFFERSIZE  256
+#define GNSS_PARSE_BUFFERSIZE  256
 
-#define GPS_KNOT_TO_KMH       1.852f
-#define GPS_KMH_TO_MPS        3.6f
+#define GNSS_KNOT_TO_KMH       1.852f
+#define GNSS_KMH_TO_MPS        3.6f
 
-#define GPS_FLAG_GGA          (1 << 0)
-#define GPS_FLAG_RMC          (1 << 1)
-#define GPS_FLAG_MARK         (GPS_FLAG_GGA | GPS_FLAG_RMC)
+#define GNSS_FLAG_GGA          (1 << 0)
+#define GNSS_FLAG_RMC          (1 << 1)
+#define GNSS_FLAG_MARK         (GNSS_FLAG_GGA | GNSS_FLAG_RMC)
 
 /****************************************************************************
  * Private Types
  ****************************************************************************/
 
-/* This structure describes gps sensor info */
+/* This structure describes GNSS sensor info */
 
-struct gps_sensor_s
+struct gnss_sensor_s
 {
   struct sensor_lowerhalf_s lower;
   FAR void                 *upper;
 };
 
-/* This structure describes user info of gps */
+/* This structure describes user info of GNSS */
 
-struct gps_user_s
+struct gnss_user_s
 {
   FAR struct pollfd *fds;
   size_t pos;
@@ -75,76 +75,76 @@ struct gps_user_s
 
 /* This structure describes the state of the upper half driver */
 
-struct gps_upperhalf_s
+struct gnss_upperhalf_s
 {
-  struct gps_sensor_s         dev[GPS_MAX_IDX];
-  FAR struct gps_lowerhalf_s *lower;
-  uint8_t                     crefs;
-  uint8_t                     flags;
-  mutex_t                     lock;
-  sem_t                       buffersem;
-  size_t                      parsenext;
-  char                        parsebuffer[GPS_PARSE_BUFFERSIZE];
-  struct circbuf_s            buffer;
-  struct sensor_gps           gps;
+  struct gnss_sensor_s         dev[GNSS_MAX_IDX];
+  FAR struct gnss_lowerhalf_s *lower;
+  uint8_t                      crefs;
+  uint8_t                      flags;
+  mutex_t                      lock;
+  sem_t                        buffersem;
+  size_t                       parsenext;
+  char                         parsebuffer[GNSS_PARSE_BUFFERSIZE];
+  struct circbuf_s             buffer;
+  struct sensor_gnss           gnss;
 };
 
 /****************************************************************************
  * Private Function Prototypes
  ****************************************************************************/
 
-static int gps_activate(FAR struct sensor_lowerhalf_s *lower,
-                        FAR struct file *filep, bool enable);
-static int gps_set_interval(FAR struct sensor_lowerhalf_s *lower,
-                            FAR struct file *filep,
-                            FAR uint32_t *interval);
-static int gps_control(FAR struct sensor_lowerhalf_s *lower,
-                       FAR struct file *filep, int cmd, unsigned long arg);
+static int gnss_activate(FAR struct sensor_lowerhalf_s *lower,
+                         FAR struct file *filep, bool enable);
+static int gnss_set_interval(FAR struct sensor_lowerhalf_s *lower,
+                             FAR struct file *filep,
+                             FAR uint32_t *interval);
+static int gnss_control(FAR struct sensor_lowerhalf_s *lower,
+                        FAR struct file *filep, int cmd, unsigned long arg);
 
-static int     gps_open(FAR struct file *filep);
-static int     gps_close(FAR struct file *filep);
-static ssize_t gps_read(FAR struct file *filep, FAR char *buffer,
-                        size_t buflen);
-static ssize_t gps_write(FAR struct file *filep,
-                         FAR const char *buffer, size_t buflen);
-static int     gps_ioctl(FAR struct file *filep, int cmd,
-                         unsigned long arg);
-static int     gps_poll(FAR struct file *filep, FAR struct pollfd *fds,
-                        bool setup);
+static int     gnss_open(FAR struct file *filep);
+static int     gnss_close(FAR struct file *filep);
+static ssize_t gnss_read(FAR struct file *filep, FAR char *buffer,
+                         size_t buflen);
+static ssize_t gnss_write(FAR struct file *filep,
+                          FAR const char *buffer, size_t buflen);
+static int     gnss_ioctl(FAR struct file *filep, int cmd,
+                          unsigned long arg);
+static int     gnss_poll(FAR struct file *filep, FAR struct pollfd *fds,
+                         bool setup);
 
 /****************************************************************************
  * Private Data
  ****************************************************************************/
 
-static const struct sensor_ops_s g_gps_sensor_ops =
+static const struct sensor_ops_s g_gnss_sensor_ops =
 {
-  .activate     = gps_activate,
-  .set_interval = gps_set_interval,
-  .control      = gps_control,
+  .activate     = gnss_activate,
+  .set_interval = gnss_set_interval,
+  .control      = gnss_control,
 };
 
-static const struct file_operations g_gps_fops =
+static const struct file_operations g_gnss_fops =
 {
-  gps_open,   /* open  */
-  gps_close,  /* close */
-  gps_read,   /* read  */
-  gps_write,  /* write */
-  NULL,       /* seek  */
-  gps_ioctl,  /* ioctl */
-  NULL,       /* mmap */
-  NULL,       /* truncate */
-  gps_poll    /* poll  */
+  gnss_open,   /* open  */
+  gnss_close,  /* close */
+  gnss_read,   /* read  */
+  gnss_write,  /* write */
+  NULL,        /* seek  */
+  gnss_ioctl,  /* ioctl */
+  NULL,        /* mmap */
+  NULL,        /* truncate */
+  gnss_poll    /* poll  */
 };
 
 /****************************************************************************
  * Private Functions
  ****************************************************************************/
 
-static int gps_activate(FAR struct sensor_lowerhalf_s *lower,
-                        FAR struct file *filep, bool enable)
+static int gnss_activate(FAR struct sensor_lowerhalf_s *lower,
+                         FAR struct file *filep, bool enable)
 {
-  FAR struct gps_sensor_s *dev = (FAR struct gps_sensor_s *)lower;
-  FAR struct gps_upperhalf_s *upper = dev->upper;
+  FAR struct gnss_sensor_s *dev = (FAR struct gnss_sensor_s *)lower;
+  FAR struct gnss_upperhalf_s *upper = dev->upper;
   int ret = OK;
 
   nxmutex_lock(&upper->lock);
@@ -161,12 +161,12 @@ static int gps_activate(FAR struct sensor_lowerhalf_s *lower,
   return ret;
 }
 
-static int gps_set_interval(FAR struct sensor_lowerhalf_s *lower,
-                            FAR struct file *filep,
-                            FAR uint32_t *interval)
+static int gnss_set_interval(FAR struct sensor_lowerhalf_s *lower,
+                             FAR struct file *filep,
+                             FAR uint32_t *interval)
 {
-  FAR struct gps_sensor_s *dev = (FAR struct gps_sensor_s *)lower;
-  FAR struct gps_upperhalf_s *upper = dev->upper;
+  FAR struct gnss_sensor_s *dev = (FAR struct gnss_sensor_s *)lower;
+  FAR struct gnss_upperhalf_s *upper = dev->upper;
 
   if (upper->lower->ops->set_interval == NULL)
     {
@@ -176,11 +176,11 @@ static int gps_set_interval(FAR struct sensor_lowerhalf_s *lower,
   return upper->lower->ops->set_interval(upper->lower, filep, interval);
 }
 
-static int gps_control(FAR struct sensor_lowerhalf_s *lower,
-                       FAR struct file *filep, int cmd, unsigned long arg)
+static int gnss_control(FAR struct sensor_lowerhalf_s *lower,
+                        FAR struct file *filep, int cmd, unsigned long arg)
 {
-  FAR struct gps_sensor_s *dev = (FAR struct gps_sensor_s *)lower;
-  FAR struct gps_upperhalf_s *upper = dev->upper;
+  FAR struct gnss_sensor_s *dev = (FAR struct gnss_sensor_s *)lower;
+  FAR struct gnss_upperhalf_s *upper = dev->upper;
 
   if (upper->lower->ops->control == NULL)
     {
@@ -190,15 +190,15 @@ static int gps_control(FAR struct sensor_lowerhalf_s *lower,
   return upper->lower->ops->control(upper->lower, filep, cmd, arg);
 }
 
-static int gps_open(FAR struct file *filep)
+static int gnss_open(FAR struct file *filep)
 {
-  FAR struct gps_upperhalf_s *upper;
-  FAR struct gps_user_s *user;
+  FAR struct gnss_upperhalf_s *upper;
+  FAR struct gnss_user_s *user;
   int ret = OK;
 
   upper = filep->f_inode->i_private;
 
-  user = kmm_zalloc(sizeof(struct gps_user_s));
+  user = kmm_zalloc(sizeof(struct gnss_user_s));
   if (user == NULL)
     {
       return -ENOMEM;
@@ -234,10 +234,10 @@ out:
   return ret;
 }
 
-static int gps_close(FAR struct file *filep)
+static int gnss_close(FAR struct file *filep)
 {
-  FAR struct gps_upperhalf_s *upper;
-  FAR struct gps_user_s *user;
+  FAR struct gnss_upperhalf_s *upper;
+  FAR struct gnss_user_s *user;
   int ret = OK;
 
   DEBUGASSERT(filep->f_priv);
@@ -266,11 +266,11 @@ out:
   return ret;
 }
 
-static ssize_t gps_read(FAR struct file *filep, FAR char *buffer,
-                        size_t buflen)
+static ssize_t gnss_read(FAR struct file *filep, FAR char *buffer,
+                         size_t buflen)
 {
-  FAR struct gps_upperhalf_s *upper;
-  FAR struct gps_user_s *user;
+  FAR struct gnss_upperhalf_s *upper;
+  FAR struct gnss_user_s *user;
   ssize_t ret;
 
   if (buffer == NULL || buflen == 0)
@@ -318,10 +318,10 @@ out:
   return ret;
 }
 
-static ssize_t gps_write(FAR struct file *filep, FAR const char *buffer,
-                         size_t buflen)
+static ssize_t gnss_write(FAR struct file *filep, FAR const char *buffer,
+                          size_t buflen)
 {
-  FAR struct gps_upperhalf_s *upper;
+  FAR struct gnss_upperhalf_s *upper;
   int ret = -ENOTSUP;
 
   upper = filep->f_inode->i_private;
@@ -337,9 +337,9 @@ static ssize_t gps_write(FAR struct file *filep, FAR const char *buffer,
   return ret;
 }
 
-static int gps_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
+static int gnss_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
 {
-  FAR struct gps_upperhalf_s *upper;
+  FAR struct gnss_upperhalf_s *upper;
   int ret = -ENOTTY;
 
   upper = filep->f_inode->i_private;
@@ -362,11 +362,11 @@ static int gps_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
   return ret;
 }
 
-static int gps_poll(FAR struct file *filep, FAR struct pollfd *fds,
-                    bool setup)
+static int gnss_poll(FAR struct file *filep, FAR struct pollfd *fds,
+                     bool setup)
 {
-  FAR struct gps_upperhalf_s *upper;
-  FAR struct gps_user_s *user;
+  FAR struct gnss_upperhalf_s *upper;
+  FAR struct gnss_user_s *user;
   ssize_t ret = OK;
 
   upper = filep->f_inode->i_private;
@@ -399,26 +399,26 @@ out:
   return ret;
 }
 
-static void gps_init_data(FAR struct sensor_gps *gps)
+static void gnss_init_data(FAR struct sensor_gnss *gnss)
 {
-  gps->timestamp = ULONG_MAX;
-  gps->time_utc = ULONG_MAX;
-  gps->latitude = NAN;
-  gps->longitude = NAN;
-  gps->altitude = NAN;
-  gps->altitude_ellipsoid = NAN;
-  gps->eph = NAN;
-  gps->epv = NAN;
-  gps->hdop = NAN;
-  gps->pdop = NAN;
-  gps->vdop = NAN;
-  gps->ground_speed = NAN;
-  gps->course = NAN;
-  gps->satellites_used = UINT_MAX;
+  gnss->timestamp = ULONG_MAX;
+  gnss->time_utc = ULONG_MAX;
+  gnss->latitude = NAN;
+  gnss->longitude = NAN;
+  gnss->altitude = NAN;
+  gnss->altitude_ellipsoid = NAN;
+  gnss->eph = NAN;
+  gnss->epv = NAN;
+  gnss->hdop = NAN;
+  gnss->pdop = NAN;
+  gnss->vdop = NAN;
+  gnss->ground_speed = NAN;
+  gnss->course = NAN;
+  gnss->satellites_used = UINT_MAX;
 }
 
-static void gps_parse_nmea(FAR struct gps_upperhalf_s *upper,
-                           FAR const char *nmea)
+static void gnss_parse_nmea(FAR struct gnss_upperhalf_s *upper,
+                            FAR const char *nmea)
 {
   FAR struct sensor_lowerhalf_s *lower;
 
@@ -430,12 +430,12 @@ static void gps_parse_nmea(FAR struct gps_upperhalf_s *upper,
 
           if (minmea_parse_gga(&frame, nmea))
             {
-              upper->gps.altitude = minmea_tofloat(&frame.altitude);
-              upper->gps.altitude_ellipsoid =
+              upper->gnss.altitude = minmea_tofloat(&frame.altitude);
+              upper->gnss.altitude_ellipsoid =
                              minmea_tofloat(&frame.height);
-              upper->gps.hdop = minmea_tofloat(&frame.hdop);
-              upper->gps.satellites_used = frame.satellites_tracked;
-              upper->flags |= GPS_FLAG_GGA;
+              upper->gnss.hdop = minmea_tofloat(&frame.hdop);
+              upper->gnss.satellites_used = frame.satellites_tracked;
+              upper->flags |= GNSS_FLAG_GGA;
             }
 
           break;
@@ -448,7 +448,7 @@ static void gps_parse_nmea(FAR struct gps_upperhalf_s *upper,
 
           if (minmea_parse_rmc(&frame, nmea))
             {
-              upper->gps.timestamp = sensor_get_timestamp();
+              upper->gnss.timestamp = sensor_get_timestamp();
               memset(&t, 0, sizeof(t));
               t.tm_sec = frame.time.seconds;
               t.tm_min = frame.time.minutes;
@@ -457,15 +457,15 @@ static void gps_parse_nmea(FAR struct gps_upperhalf_s *upper,
               t.tm_mon = frame.date.month - 1;
               t.tm_year = frame.date.year + 2000 - 1900;
               t.tm_isdst = 0;
-              upper->gps.time_utc = mktime(&t);
-              upper->gps.latitude = minmea_tocoord(&frame.latitude);
-              upper->gps.longitude = minmea_tocoord(&frame.longitude);
-              upper->gps.ground_speed = minmea_tofloat(&frame.speed) *
-                            GPS_KNOT_TO_KMH / GPS_KMH_TO_MPS;
-              upper->gps.course = minmea_tofloat(&frame.course);
+              upper->gnss.time_utc = mktime(&t);
+              upper->gnss.latitude = minmea_tocoord(&frame.latitude);
+              upper->gnss.longitude = minmea_tocoord(&frame.longitude);
+              upper->gnss.ground_speed = minmea_tofloat(&frame.speed) *
+                            GNSS_KNOT_TO_KMH / GNSS_KMH_TO_MPS;
+              upper->gnss.course = minmea_tofloat(&frame.course);
               if (frame.valid)
                 {
-                  upper->flags |= GPS_FLAG_RMC;
+                  upper->flags |= GNSS_FLAG_RMC;
                 }
             }
 
@@ -486,8 +486,8 @@ static void gps_parse_nmea(FAR struct gps_upperhalf_s *upper,
               lon_err = minmea_tofloat(
                         &frame.longitude_error_deviation);
               lon_err *= lon_err;
-              upper->gps.eph = sqrtf(lat_err + lon_err);
-              upper->gps.epv = minmea_tofloat(
+              upper->gnss.eph = sqrtf(lat_err + lon_err);
+              upper->gnss.epv = minmea_tofloat(
                         &frame.altitude_error_deviation);
             }
 
@@ -497,7 +497,7 @@ static void gps_parse_nmea(FAR struct gps_upperhalf_s *upper,
       case MINMEA_SENTENCE_GSV:
         {
           struct minmea_sentence_gsv frame;
-          struct sensor_gps_satellite satellite;
+          struct sensor_gnss_satellite satellite;
 
           memset(&satellite, 0, sizeof(satellite));
           if (minmea_parse_gsv(&frame, nmea))
@@ -507,7 +507,7 @@ static void gps_parse_nmea(FAR struct gps_upperhalf_s *upper,
               satellite.satellites = frame.total_sats;
               memcpy(satellite.info, frame.sats,
                      sizeof(satellite.info[0]) * 4);
-              lower = &upper->dev[GPS_SATELLITE_IDX].lower;
+              lower = &upper->dev[GNSS_SATELLITE_IDX].lower;
               lower->push_event(lower->priv, &satellite,
                                 sizeof(satellite));
             }
@@ -519,17 +519,17 @@ static void gps_parse_nmea(FAR struct gps_upperhalf_s *upper,
          break;
     }
 
-  if (GPS_FLAG_MARK == upper->flags)
+  if (GNSS_FLAG_MARK == upper->flags)
     {
-      upper->flags &= ~GPS_FLAG_MARK;
-      lower = &upper->dev[GPS_IDX].lower;
-      lower->push_event(lower->priv, &upper->gps, sizeof(upper->gps));
-      gps_init_data(&upper->gps);
+      upper->flags &= ~GNSS_FLAG_MARK;
+      lower = &upper->dev[GNSS_IDX].lower;
+      lower->push_event(lower->priv, &upper->gnss, sizeof(upper->gnss));
+      gnss_init_data(&upper->gnss);
     }
 }
 
-static void gps_parse(FAR struct gps_upperhalf_s *upper,
-                      FAR const char *buffer, size_t bytes)
+static void gnss_parse(FAR struct gnss_upperhalf_s *upper,
+                       FAR const char *buffer, size_t bytes)
 {
   bool newline = upper->parsenext != 0;
 
@@ -549,17 +549,17 @@ static void gps_parse(FAR struct gps_upperhalf_s *upper,
             }
 
           upper->parsebuffer[upper->parsenext] = '\0';
-          gps_parse_nmea(upper, upper->parsebuffer);
+          gnss_parse_nmea(upper, upper->parsebuffer);
           upper->parsenext = 0;
           newline = false;
         }
     }
 }
 
-static void gps_push_data(FAR void *priv, FAR const void *data,
+static void gnss_push_data(FAR void *priv, FAR const void *data,
                            size_t bytes, bool is_nmea)
 {
-  FAR struct gps_upperhalf_s *upper = priv;
+  FAR struct gnss_upperhalf_s *upper = priv;
   int semcount;
 
   if (data == NULL || bytes == 0)
@@ -570,7 +570,7 @@ static void gps_push_data(FAR void *priv, FAR const void *data,
   nxmutex_lock(&upper->lock);
   if (is_nmea)
     {
-      gps_parse(upper, data, bytes);
+      gnss_parse(upper, data, bytes);
     }
 
   circbuf_overwrite(&upper->buffer, data, bytes);
@@ -583,10 +583,10 @@ static void gps_push_data(FAR void *priv, FAR const void *data,
     }
 }
 
-static void gps_push_event(FAR void *priv, FAR const void *data,
+static void gnss_push_event(FAR void *priv, FAR const void *data,
                             size_t bytes, int type)
 {
-  FAR struct gps_upperhalf_s *upper = priv;
+  FAR struct gnss_upperhalf_s *upper = priv;
   FAR struct sensor_lowerhalf_s *lower;
 
   if (data == NULL || bytes == 0)
@@ -595,14 +595,14 @@ static void gps_push_event(FAR void *priv, FAR const void *data,
     }
 
   nxmutex_lock(&upper->lock);
-  if (type == SENSOR_TYPE_GPS)
+  if (type == SENSOR_TYPE_GNSS)
     {
-      lower = &upper->dev[GPS_IDX].lower;
+      lower = &upper->dev[GNSS_IDX].lower;
       lower->push_event(lower->priv, data, bytes);
     }
-  else if (type == SENSOR_TYPE_GPS_SATELLITE)
+  else if (type == SENSOR_TYPE_GNSS_SATELLITE)
     {
-      lower = &upper->dev[GPS_SATELLITE_IDX].lower;
+      lower = &upper->dev[GNSS_SATELLITE_IDX].lower;
       lower->push_event(lower->priv, data, bytes);
     }
 
@@ -614,16 +614,16 @@ static void gps_push_event(FAR void *priv, FAR const void *data,
  ****************************************************************************/
 
 /****************************************************************************
- * Name: gps_register
+ * Name: gnss_register
  *
  * Description:
- *   This function binds an instance of a "lower half" gps driver with the
- *   "upper half" gps device and registers that device so that can be used
+ *   This function binds an instance of a "lower half" GNSS driver with the
+ *   "upper half" GNSS device and registers that device so that can be used
  *   by application code.
  *
  * Input Parameters:
- *   dev     - A pointer to an instance of lower half gps driver. This
- *             instance is bound to the gps driver and must persist as long
+ *   dev     - A pointer to an instance of lower half GNSS driver. This
+ *             instance is bound to the GNSS driver and must persist as long
  *             as the driver persists.
  *   devno   - The user specifies which device of this type, from 0. If the
  *             devno alerady exists, -EEXIST will be returned.
@@ -635,47 +635,47 @@ static void gps_push_event(FAR void *priv, FAR const void *data,
  *
  ****************************************************************************/
 
-int gps_register(FAR struct gps_lowerhalf_s *lower, int devno,
-                 uint32_t nbuffer)
+int gnss_register(FAR struct gnss_lowerhalf_s *lower, int devno,
+                  uint32_t nbuffer)
 {
-  FAR struct gps_upperhalf_s *upper;
-  FAR struct gps_sensor_s *dev;
+  FAR struct gnss_upperhalf_s *upper;
+  FAR struct gnss_sensor_s *dev;
   char path[PATH_MAX];
   int ret;
 
-  upper = kmm_zalloc(sizeof(struct gps_upperhalf_s));
+  upper = kmm_zalloc(sizeof(struct gnss_upperhalf_s));
   if (upper == NULL)
     {
       return -ENOMEM;
     }
 
-  lower->push_data = gps_push_data;
-  lower->push_event = gps_push_event;
+  lower->push_data = gnss_push_data;
+  lower->push_event = gnss_push_event;
   lower->priv = upper;
   upper->lower = lower;
 
   nxmutex_init(&upper->lock);
   nxsem_init(&upper->buffersem, 0, 0);
-  gps_init_data(&upper->gps);
+  gnss_init_data(&upper->gnss);
 
-  /* GPS register */
+  /* GNSS register */
 
-  dev = &upper->dev[GPS_IDX];
-  dev->lower.ops = &g_gps_sensor_ops;
-  dev->lower.type = SENSOR_TYPE_GPS;
+  dev = &upper->dev[GNSS_IDX];
+  dev->lower.ops = &g_gnss_sensor_ops;
+  dev->lower.type = SENSOR_TYPE_GNSS;
   dev->lower.nbuffer = nbuffer;
   dev->upper = upper;
   ret = sensor_register(&dev->lower, devno);
   if (ret < 0)
     {
-      goto gps_err;
+      goto gnss_err;
     }
 
   /* Satellite register */
 
-  dev = &upper->dev[GPS_SATELLITE_IDX];
-  dev->lower.ops = &g_gps_sensor_ops;
-  dev->lower.type = SENSOR_TYPE_GPS_SATELLITE;
+  dev = &upper->dev[GNSS_SATELLITE_IDX];
+  dev->lower.ops = &g_gnss_sensor_ops;
+  dev->lower.type = SENSOR_TYPE_GNSS_SATELLITE;
   dev->lower.nbuffer = nbuffer;
   dev->upper = upper;
   ret = sensor_register(&dev->lower, devno);
@@ -685,14 +685,14 @@ int gps_register(FAR struct gps_lowerhalf_s *lower, int devno,
     }
 
   ret = circbuf_init(&upper->buffer, NULL,
-                     CONFIG_SENSORS_GPS_RECV_BUFFERSIZE);
+                     CONFIG_SENSORS_GNSS_RECV_BUFFERSIZE);
   if (ret < 0)
     {
       goto circ_err;
     }
 
-  snprintf(path, PATH_MAX, GPS_PATH_FMT, devno);
-  ret = register_driver(path, &g_gps_fops, 0666, upper);
+  snprintf(path, PATH_MAX, GNSS_PATH_FMT, devno);
+  ret = register_driver(path, &g_gnss_fops, 0666, upper);
   if (ret < 0)
     {
       goto driver_err;
@@ -703,10 +703,10 @@ int gps_register(FAR struct gps_lowerhalf_s *lower, int devno,
 driver_err:
   circbuf_uninit(&upper->buffer);
 circ_err:
-  sensor_unregister(&upper->dev[GPS_SATELLITE_IDX].lower, devno);
+  sensor_unregister(&upper->dev[GNSS_SATELLITE_IDX].lower, devno);
 satellite_err:
-  sensor_unregister(&upper->dev[GPS_IDX].lower, devno);
-gps_err:
+  sensor_unregister(&upper->dev[GNSS_IDX].lower, devno);
+gnss_err:
   nxmutex_destroy(&upper->lock);
   nxsem_destroy(&upper->buffersem);
   kmm_free(upper);
@@ -714,27 +714,27 @@ gps_err:
 }
 
 /****************************************************************************
- * Name: gps_unregister
+ * Name: gnss_unregister
  *
  * Description:
  *   This function unregisters character node and releases all resource from
- *   upper half driver. This API corresponds to the gps_register.
+ *   upper half driver. This API corresponds to the gnss_register.
  *
  * Input Parameters:
- *   dev   - A pointer to an instance of lower half gps driver. This
- *           instance is bound to the gps driver and must persists as long
+ *   dev   - A pointer to an instance of lower half GNSS driver. This
+ *           instance is bound to the GNSS driver and must persists as long
  *           as the driver persists.
  *   devno - The user specifies which device of this type, from 0.
  ****************************************************************************/
 
-void gps_unregister(FAR struct gps_lowerhalf_s *lower, int devno)
+void gnss_unregister(FAR struct gnss_lowerhalf_s *lower, int devno)
 {
-  FAR struct gps_upperhalf_s *upper = lower->priv;
+  FAR struct gnss_upperhalf_s *upper = lower->priv;
   char path[PATH_MAX];
 
-  sensor_unregister(&upper->dev[GPS_IDX].lower, devno);
-  sensor_unregister(&upper->dev[GPS_SATELLITE_IDX].lower, devno);
-  snprintf(path, PATH_MAX, GPS_PATH_FMT, devno);
+  sensor_unregister(&upper->dev[GNSS_IDX].lower, devno);
+  sensor_unregister(&upper->dev[GNSS_SATELLITE_IDX].lower, devno);
+  snprintf(path, PATH_MAX, GNSS_PATH_FMT, devno);
   unregister_driver(path);
   nxsem_destroy(&upper->buffersem);
   circbuf_uninit(&upper->buffer);
diff --git a/drivers/sensors/goldfish_gps_uorb.c b/drivers/sensors/goldfish_gnss_uorb.c
similarity index 67%
rename from drivers/sensors/goldfish_gps_uorb.c
rename to drivers/sensors/goldfish_gnss_uorb.c
index a59cf0bf3d1..b0e1739ee56 100644
--- a/drivers/sensors/goldfish_gps_uorb.c
+++ b/drivers/sensors/goldfish_gnss_uorb.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * drivers/sensors/goldfish_gps_uorb.c
+ * drivers/sensors/goldfish_gnss_uorb.c
  *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
@@ -34,16 +34,16 @@
 #include <nuttx/kthread.h>
 #include <nuttx/nuttx.h>
 #include <nuttx/semaphore.h>
-#include <nuttx/sensors/goldfish_gps.h>
-#include <nuttx/sensors/gps.h>
+#include <nuttx/sensors/goldfish_gnss.h>
+#include <nuttx/sensors/gnss.h>
 
 /****************************************************************************
  * Private Types
  ****************************************************************************/
 
-struct goldfish_gps_s
+struct goldfish_gnss_s
 {
-  struct gps_lowerhalf_s gps;
+  struct gnss_lowerhalf_s gnss;
   struct file pipe;
   volatile bool running;
 };
@@ -52,26 +52,26 @@ struct goldfish_gps_s
  * Private Function Prototypes
  ****************************************************************************/
 
-static int goldfish_gps_activate(FAR struct gps_lowerhalf_s *lower,
-                                 FAR struct file *filep, bool enabled);
-static int goldfish_gps_thread(int argc, FAR char** argv);
+static int goldfish_gnss_activate(FAR struct gnss_lowerhalf_s *lower,
+                                  FAR struct file *filep, bool enabled);
+static int goldfish_gnss_thread(int argc, FAR char** argv);
 
 /****************************************************************************
  * Private Data
  ****************************************************************************/
 
-static struct gps_ops_s g_goldfish_gps_ops =
+static struct gnss_ops_s g_goldfish_gnss_ops =
 {
-  .activate = goldfish_gps_activate,
+  .activate = goldfish_gnss_activate,
 };
 
 /****************************************************************************
  * Private Functions
  ****************************************************************************/
 
-static inline int goldfish_gps_write_pipe(FAR struct file *pipe,
-                                          FAR const void *buffer,
-                                          size_t size)
+static inline int goldfish_gnss_write_pipe(FAR struct file *pipe,
+                                           FAR const void *buffer,
+                                           size_t size)
 {
   FAR const char *p = (FAR const char *)buffer;
 
@@ -90,10 +90,10 @@ static inline int goldfish_gps_write_pipe(FAR struct file *pipe,
   return 0;
 }
 
-static inline int goldfish_gps_open_pipe(FAR struct file *filep,
-                                         FAR const char *ns,
-                                         FAR const char *pipe_name,
-                                         int flags)
+static inline int goldfish_gnss_open_pipe(FAR struct file *filep,
+                                          FAR const char *ns,
+                                          FAR const char *pipe_name,
+                                          int flags)
 {
   char buf[256];
   int buf_len;
@@ -116,7 +116,7 @@ static inline int goldfish_gps_open_pipe(FAR struct file *filep,
       buf_len = snprintf(buf, sizeof(buf), "pipe:%s", pipe_name);
     }
 
-  ret = goldfish_gps_write_pipe(filep, buf, buf_len + 1);
+  ret = goldfish_gnss_write_pipe(filep, buf, buf_len + 1);
   if (ret < 0)
     {
       snerr("Could not connect to the '%s' service: %s",
@@ -128,20 +128,20 @@ static inline int goldfish_gps_open_pipe(FAR struct file *filep,
   return OK;
 }
 
-static int goldfish_gps_activate(FAR struct gps_lowerhalf_s *gps,
-                                 FAR struct file *filep,
-                                 bool enabled)
+static int goldfish_gnss_activate(FAR struct gnss_lowerhalf_s *gnss,
+                                  FAR struct file *filep,
+                                  bool enabled)
 {
-  FAR struct goldfish_gps_s *priv =
-    container_of(gps, struct goldfish_gps_s, gps);
+  FAR struct goldfish_gnss_s *priv =
+    container_of(gnss, struct goldfish_gnss_s, gnss);
   priv->running = enabled;
 
   return OK;
 }
 
-static int goldfish_gps_thread(int argc, FAR char** argv)
+static int goldfish_gnss_thread(int argc, FAR char** argv)
 {
-  FAR struct goldfish_gps_s *priv = (FAR struct goldfish_gps_s *)
+  FAR struct goldfish_gnss_s *priv = (FAR struct goldfish_gnss_s *)
                                 ((uintptr_t)strtoul(argv[1], NULL, 16));
   ssize_t len;
   char buf[256];
@@ -151,7 +151,7 @@ static int goldfish_gps_thread(int argc, FAR char** argv)
       len = file_read(&priv->pipe, buf, sizeof(buf));
       if (priv->running && len > 0)
         {
-          priv->gps.push_data(priv->gps.priv, buf, len, true);
+          priv->gnss.push_data(priv->gnss.priv, buf, len, true);
         }
     }
 
@@ -163,10 +163,10 @@ static int goldfish_gps_thread(int argc, FAR char** argv)
  ****************************************************************************/
 
 /****************************************************************************
- * Name: goldfish_gps_init
+ * Name: goldfish_gnss_init
  *
  * Description:
- *   Goldfish GPS driver entrypoint.
+ *   Goldfish GNSS driver entrypoint.
  *
  * Input Parameters:
  *   devno       - The user specifies which device of this type, from 0.
@@ -177,47 +177,47 @@ static int goldfish_gps_thread(int argc, FAR char** argv)
  *
  ****************************************************************************/
 
-int goldfish_gps_init(int devno, uint32_t batch_number)
+int goldfish_gnss_init(int devno, uint32_t batch_number)
 {
-  FAR struct goldfish_gps_s *gps;
+  FAR struct goldfish_gnss_s *gnss;
   FAR char *argv[2];
   char arg1[32];
   int ret;
 
   /* Alloc memory for sensor */
 
-  gps = kmm_zalloc(sizeof(struct goldfish_gps_s));
-  if (!gps)
+  gnss = kmm_zalloc(sizeof(struct goldfish_gnss_s));
+  if (!gnss)
     {
       return -ENOMEM;
     }
 
-  ret = goldfish_gps_open_pipe(&gps->pipe, "qemud", "gps",
-                               O_RDWR | O_CLOEXEC);
+  ret = goldfish_gnss_open_pipe(&gnss->pipe, "qemud", "gps",
+                                O_RDWR | O_CLOEXEC);
   if (ret < 0)
     {
-      kmm_free(gps);
+      kmm_free(gnss);
       return ret;
     }
 
   /* Create thread for sensor */
 
-  snprintf(arg1, 32, "%p", gps);
+  snprintf(arg1, 32, "%p", gnss);
   argv[0] = arg1;
   argv[1] = NULL;
-  ret = kthread_create("goldfish_gps_thread", SCHED_PRIORITY_DEFAULT,
+  ret = kthread_create("goldfish_gnss_thread", SCHED_PRIORITY_DEFAULT,
                        CONFIG_DEFAULT_TASK_STACKSIZE,
-                       goldfish_gps_thread, argv);
+                       goldfish_gnss_thread, argv);
   if (ret < 0)
     {
-      file_close(&gps->pipe);
-      kmm_free(gps);
+      file_close(&gnss->pipe);
+      kmm_free(gnss);
       return ret;
     }
 
   /*  Register sensor */
 
-  gps->gps.ops = &g_goldfish_gps_ops;
+  gnss->gnss.ops = &g_goldfish_gnss_ops;
 
-  return gps_register(&gps->gps, devno, batch_number);
+  return gnss_register(&gnss->gnss, devno, batch_number);
 }
diff --git a/drivers/sensors/sensor.c b/drivers/sensors/sensor.c
index 2a50004710c..3603cffd6ff 100644
--- a/drivers/sensors/sensor.c
+++ b/drivers/sensors/sensor.c
@@ -170,7 +170,6 @@ static const struct sensor_meta_s g_sensor_meta[] =
   {sizeof(struct sensor_rgb),             "rgb"},
   {sizeof(struct sensor_hall),            "hall"},
   {sizeof(struct sensor_ir),              "ir"},
-  {sizeof(struct sensor_gps),             "gps"},
   {sizeof(struct sensor_uv),              "uv"},
   {sizeof(struct sensor_noise),           "noise"},
   {sizeof(struct sensor_pm25),            "pm25"},
@@ -188,11 +187,12 @@ static const struct sensor_meta_s g_sensor_meta[] =
   {sizeof(struct sensor_ppgq),            "ppgq"},
   {sizeof(struct sensor_impd),            "impd"},
   {sizeof(struct sensor_ots),             "ots"},
-  {sizeof(struct sensor_gps_satellite),   "gps_satellite"},
   {sizeof(struct sensor_wake_gesture),    "wake_gesture"},
   {sizeof(struct sensor_cap),             "cap"},
   {sizeof(struct sensor_gas),             "gas"},
   {sizeof(struct sensor_force),           "force"},
+  {sizeof(struct sensor_gnss),            "gnss"},
+  {sizeof(struct sensor_gnss_satellite),  "gnss_satellite"},
 };
 
 static const struct file_operations g_sensor_fops =
diff --git a/drivers/sensors/wtgahrs2_uorb.c b/drivers/sensors/wtgahrs2_uorb.c
index b51567ecfd8..3158756e4e9 100644
--- a/drivers/sensors/wtgahrs2_uorb.c
+++ b/drivers/sensors/wtgahrs2_uorb.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * drivers/sensors/wtgahrs2_uorb.c
  * Driver for the Wit-Motion WTGAHRS2 accelerometer, gyroscope, magnetic,
- * angle, barometer, temperature, gps sensors by serial interface with host
+ * angle, barometer, temperature, GNSS sensors by serial interface with host
  *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
@@ -47,21 +47,21 @@
 #define WTGAHRS2_GYRO_IDX          1
 #define WTGAHRS2_MAG_IDX           2
 #define WTGAHRS2_BARO_IDX          3
-#define WTGAHRS2_GPS_IDX           4
+#define WTGAHRS2_GNSS_IDX          4
 #define WTGAHRS2_MAX_IDX           5
 
-#define WTGAHRS2_GPS0_MASK         (1 << 0) /* Time */
-#define WTGAHRS2_GPS1_MASK         (1 << 1) /* Longitude, Latitude */
-#define WTGAHRS2_GPS2_MASK         (1 << 2) /* Ground speed, Height, Yaw */
-#define WTGAHRS2_GPS_MASK          (7 << 0)
+#define WTGAHRS2_GNSS0_MASK        (1 << 0) /* Time */
+#define WTGAHRS2_GNSS1_MASK        (1 << 1) /* Longitude, Latitude */
+#define WTGAHRS2_GNSS2_MASK        (1 << 2) /* Ground speed, Height, Yaw */
+#define WTGAHRS2_GNSS_MASK         (7 << 0)
 
-#define WTGAHRS2_GPS0_INFO         0x50
+#define WTGAHRS2_GNSS0_INFO        0x50
 #define WTGAHRS2_ACCEL_INFO        0x51
 #define WTGAHRS2_GYRO_INFO         0x52
 #define WTGAHRS2_MAG_INFO          0x54
 #define WTGAHRS2_BARO_INFO         0x56
-#define WTGAHRS2_GPS1_INFO         0x57
-#define WTGAHRS2_GPS2_INFO         0x58
+#define WTGAHRS2_GNSS1_INFO        0x57
+#define WTGAHRS2_GNSS2_INFO        0x58
 
 #define WTGAHRS2_RSP_HEADER        0x55
 #define WTGAHRS2_RSP_LENGTH        11
@@ -84,8 +84,8 @@ struct wtgahrs2_dev_s
   struct wtgahrs2_sensor_s  dev[WTGAHRS2_MAX_IDX];
   struct file               file;
 
-  struct sensor_gps   gps;
-  unsigned char             gps_mask;
+  struct sensor_gnss        gnss;
+  unsigned char             gnss_mask;
 };
 
 /****************************************************************************
@@ -287,10 +287,10 @@ static void wtgahrs2_baro_data(FAR struct wtgahrs2_dev_s *rtdata,
   sninfo("Pressure : %.3fhPa\n", baro.pressure);
 }
 
-static void wtgahrs2_gps_data(FAR struct wtgahrs2_dev_s *rtdata,
-                              FAR unsigned char *buffer, int info_type)
+static void wtgahrs2_gnss_data(FAR struct wtgahrs2_dev_s *rtdata,
+                               FAR unsigned char *buffer, int info_type)
 {
-  FAR struct wtgahrs2_sensor_s *dev = &rtdata->dev[WTGAHRS2_GPS_IDX];
+  FAR struct wtgahrs2_sensor_s *dev = &rtdata->dev[WTGAHRS2_GNSS_IDX];
   FAR struct sensor_lowerhalf_s *lower = &dev->lower;
   uint64_t now = sensor_get_timestamp();
 
@@ -299,47 +299,47 @@ static void wtgahrs2_gps_data(FAR struct wtgahrs2_dev_s *rtdata,
       return;
     }
 
-  if (rtdata->gps_mask == 0)
+  if (rtdata->gnss_mask == 0)
     {
       dev->last_update = now;
     }
 
   switch (info_type)
     {
-      case WTGAHRS2_GPS0_INFO:
-        rtdata->gps_mask |= WTGAHRS2_GPS0_MASK;
+      case WTGAHRS2_GNSS0_INFO:
+        rtdata->gnss_mask |= WTGAHRS2_GNSS0_MASK;
         break;
 
-      case WTGAHRS2_GPS1_INFO:
-        rtdata->gps_mask |= WTGAHRS2_GPS1_MASK;
-        rtdata->gps.longitude = (buffer[3] << 8
-                                | buffer[2] << 8
-                                | buffer[1] << 8
-                                | buffer[0]) / 10000000.0f;
-        rtdata->gps.latitude = (buffer[7] << 8
-                               | buffer[6] << 8
-                               | buffer[5] << 8
-                               | buffer[4]) / 10000000.0f;
+      case WTGAHRS2_GNSS1_INFO:
+        rtdata->gnss_mask |= WTGAHRS2_GNSS1_MASK;
+        rtdata->gnss.longitude = (buffer[3] << 8
+                                 | buffer[2] << 8
+                                 | buffer[1] << 8
+                                 | buffer[0]) / 10000000.0f;
+        rtdata->gnss.latitude = (buffer[7] << 8
+                                | buffer[6] << 8
+                                | buffer[5] << 8
+                                | buffer[4]) / 10000000.0f;
         break;
 
-      case WTGAHRS2_GPS2_INFO:
-        rtdata->gps_mask |= WTGAHRS2_GPS2_MASK;
-        rtdata->gps.altitude = (float)(buffer[1] << 8 | buffer[0]) / 10.0f;
-        rtdata->gps.ground_speed = (float)(buffer[7] << 8 | buffer[6] << 8
-                    | buffer[5] << 8 | buffer[4]) / 3600.0f;
+      case WTGAHRS2_GNSS2_INFO:
+        rtdata->gnss_mask |= WTGAHRS2_GNSS2_MASK;
+        rtdata->gnss.altitude = (float)(buffer[1] << 8 | buffer[0]) / 10.0f;
+        rtdata->gnss.ground_speed = (float)(buffer[7] << 8 | buffer[6] << 8
+                     | buffer[5] << 8 | buffer[4]) / 3600.0f;
         break;
     }
 
-  if (rtdata->gps_mask == WTGAHRS2_GPS_MASK)
+  if (rtdata->gnss_mask == WTGAHRS2_GNSS_MASK)
     {
-      rtdata->gps_mask = 0;
-      lower->push_event(lower->priv, &rtdata->gps, sizeof(rtdata->gps));
+      rtdata->gnss_mask = 0;
+      lower->push_event(lower->priv, &rtdata->gnss, sizeof(rtdata->gnss));
       sninfo("Time : %" PRIu64 " utc_time: %" PRIu64 "\n",
-             rtdata->gps.timestamp, rtdata->gps.time_utc);
-      sninfo("GPS longitude : %fdegree, latitude:%fdegree\n",
-              rtdata->gps.longitude, rtdata->gps.latitude);
-      sninfo("GPS speed: %fm/s, altitude: %fm\n",
-              rtdata->gps.ground_speed, rtdata->gps.altitude);
+             rtdata->gnss.timestamp, rtdata->gnss.time_utc);
+      sninfo("GNSS longitude : %fdegree, latitude:%fdegree\n",
+              rtdata->gnss.longitude, rtdata->gnss.latitude);
+      sninfo("GNSS speed: %fm/s, altitude: %fm\n",
+              rtdata->gnss.ground_speed, rtdata->gnss.altitude);
     }
 }
 
@@ -379,10 +379,10 @@ static bool wtgahrs2_process_data(FAR struct wtgahrs2_dev_s *rtdata,
         wtgahrs2_baro_data(rtdata, &buffer[2]);
         break;
 
-      case WTGAHRS2_GPS0_INFO:
-      case WTGAHRS2_GPS1_INFO:
-      case WTGAHRS2_GPS2_INFO:
-        wtgahrs2_gps_data(rtdata, &buffer[2], buffer[1]);
+      case WTGAHRS2_GNSS0_INFO:
+      case WTGAHRS2_GNSS1_INFO:
+      case WTGAHRS2_GNSS2_INFO:
+        wtgahrs2_gnss_data(rtdata, &buffer[2], buffer[1]);
         break;
     }
 
@@ -519,16 +519,16 @@ int wtgahrs2_initialize(FAR const char *path, int devno)
       goto baro_err;
     }
 
-  /* GPS register */
+  /* GNSS register */
 
-  tmp = &rtdata->dev[WTGAHRS2_GPS_IDX];
+  tmp = &rtdata->dev[WTGAHRS2_GNSS_IDX];
   tmp->lower.ops = &g_wtgahrs2_ops;
-  tmp->lower.type = SENSOR_TYPE_GPS;
+  tmp->lower.type = SENSOR_TYPE_GNSS;
   tmp->lower.nbuffer = 1;
   ret = sensor_register(&tmp->lower, devno);
   if (ret < 0)
     {
-      goto gps_err;
+      goto gnss_err;
     }
 
   /* Set sensor default attributes and enter unlock mode */
@@ -558,8 +558,8 @@ int wtgahrs2_initialize(FAR const char *path, int devno)
   return ret;
 
 thr_err:
-  sensor_unregister(&rtdata->dev[WTGAHRS2_GPS_IDX].lower, devno);
-gps_err:
+  sensor_unregister(&rtdata->dev[WTGAHRS2_GNSS_IDX].lower, devno);
+gnss_err:
   sensor_unregister(&rtdata->dev[WTGAHRS2_BARO_IDX].lower, devno);
 baro_err:
   sensor_unregister(&rtdata->dev[WTGAHRS2_MAG_IDX].lower, devno);
diff --git a/include/nuttx/sensors/gps.h b/include/nuttx/sensors/gnss.h
similarity index 72%
rename from include/nuttx/sensors/gps.h
rename to include/nuttx/sensors/gnss.h
index bffa033c000..a3304a81e62 100644
--- a/include/nuttx/sensors/gps.h
+++ b/include/nuttx/sensors/gnss.h
@@ -1,5 +1,5 @@
 /****************************************************************************
- * include/nuttx/sensors/gps.h
+ * include/nuttx/sensors/gnss.h
  *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
@@ -18,8 +18,8 @@
  *
  ****************************************************************************/
 
-#ifndef __INCLUDE_NUTTX_SENSORS_GPS_H
-#define __INCLUDE_NUTTX_SENSORS_GPS_H
+#ifndef __INCLUDE_NUTTX_SENSORS_GNSS_H
+#define __INCLUDE_NUTTX_SENSORS_GNSS_H
 
 /****************************************************************************
  * Included Files
@@ -35,22 +35,22 @@
  * Public Types
  ****************************************************************************/
 
-/* The gps lower half driver interface */
+/* The GNSS lower half driver interface */
 
-struct gps_lowerhalf_s;
-struct gps_ops_s
+struct gnss_lowerhalf_s;
+struct gnss_ops_s
 {
   /**************************************************************************
    * Name: activate
    *
    * Description:
-   *   Enable or disable gps device. when enable gps, gps will
+   *   Enable or disable GNSS device. when enable GNSS, GNSS will
    *   work in current mode(if not set, use default mode). when disable
-   *   gps, it will disable sense path and stop work.
+   *   GNSS, it will disable sense path and stop work.
    *
    * Input Parameters:
-   *   lower  - The instance of lower half gps driver
-   *   filep  - The pointer of file, represents each user using the gps.
+   *   lower  - The instance of lower half GNSS driver
+   *   filep  - The pointer of file, represents each user using the GNSS.
    *   enable - true(enable) and false(disable)
    *
    * Returned Value:
@@ -58,14 +58,14 @@ struct gps_ops_s
    *
    **************************************************************************/
 
-  CODE int (*activate)(FAR struct gps_lowerhalf_s *lower,
+  CODE int (*activate)(FAR struct gnss_lowerhalf_s *lower,
                        FAR struct file *filep, bool enable);
 
   /**************************************************************************
    * Name: set_interval
    *
    * Description:
-   *   Set the gps output data period in microseconds for a given gps.
+   *   Set the GNSS output data period in microseconds for a given GNSS.
    *   If *period_us > max_delay it will be truncated to max_delay and if
    *   *period_us < min_delay it will be replaced by min_delay.
    *
@@ -76,8 +76,8 @@ struct gps_ops_s
    *   ensure that they are not lost.
    *
    * Input Parameters:
-   *   lower     - The instance of lower half gps driver.
-   *   filep     - The pointer of file, represents each user using gps.
+   *   lower     - The instance of lower half GNSS driver.
+   *   filep     - The pointer of file, represents each user using GNSS.
    *   period_us - the time between samples, in us, it may be overwrite by
    *               lower half driver.
    *
@@ -86,21 +86,21 @@ struct gps_ops_s
    *
    **************************************************************************/
 
-  CODE int (*set_interval)(FAR struct gps_lowerhalf_s *lower,
+  CODE int (*set_interval)(FAR struct gnss_lowerhalf_s *lower,
                            FAR struct file *filep,
                            FAR uint32_t *period_us);
 
   /**************************************************************************
    * Name: control
    *
-   * With this method, the user can set some special config for the gps,
+   * With this method, the user can set some special config for the GNSS,
    * such as changing the custom mode, setting the custom resolution, reset,
    * etc, which are all parsed and implemented by lower half driver.
    *
    * Input Parameters:
-   *   lower      - The instance of lower half gps driver.
-   *   filep      - The pointer of file, represents each user using gps.
-   *   cmd        - The special cmd for gps.
+   *   lower      - The instance of lower half GNSS driver.
+   *   filep      - The pointer of file, represents each user using GNSS.
+   *   cmd        - The special cmd for GNSS.
    *   arg        - The parameters associated with cmd.
    *
    * Returned Value:
@@ -109,19 +109,19 @@ struct gps_ops_s
    *
    **************************************************************************/
 
-  CODE int (*control)(FAR struct gps_lowerhalf_s *lower,
+  CODE int (*control)(FAR struct gnss_lowerhalf_s *lower,
                       FAR struct file *filep,
                       int cmd, unsigned long arg);
 
   /**************************************************************************
    * Name: inject_data
    *
-   * With this method, the user can inject some data to gps driver,
+   * With this method, the user can inject some data to GNSS driver,
    * such as inject lto data, utc data, etc.
    *
    * Input Parameters:
-   *   lower      - The instance of lower half gps driver.
-   *   filep      - The pointer of file, represents each user using gps.
+   *   lower      - The instance of lower half GNSS driver.
+   *   filep      - The pointer of file, represents each user using GNSS.
    *   buffer     - The buffer of inject data.
    *   buflen     - The length of buffer.
    *
@@ -131,41 +131,41 @@ struct gps_ops_s
    *
    **************************************************************************/
 
-  CODE ssize_t (*inject_data)(FAR struct gps_lowerhalf_s *lower,
+  CODE ssize_t (*inject_data)(FAR struct gnss_lowerhalf_s *lower,
                               FAR struct file *filep,
                               FAR const void *buffer, size_t buflen);
 };
 
 /* This structure is the generic form of state structure used by lower half
- * gps driver.
+ * GNSS driver.
  */
 
-typedef CODE void (*gps_push_data_t)(FAR void *priv, FAR const void *data,
-                                     size_t bytes, bool is_nmea);
+typedef CODE void (*gnss_push_data_t)(FAR void *priv, FAR const void *data,
+                                      size_t bytes, bool is_nmea);
 
-typedef CODE void (*gps_push_event_t)(FAR void *priv, FAR const void *data,
-                                      size_t bytes, int type);
+typedef CODE void (*gnss_push_event_t)(FAR void *priv, FAR const void *data,
+                                       size_t bytes, int type);
 
-struct gps_lowerhalf_s
+struct gnss_lowerhalf_s
 {
-  /* The lower half gps driver operations */
+  /* The lower half GNSS driver operations */
 
-  FAR const struct gps_ops_s *ops;
+  FAR const struct gnss_ops_s *ops;
 
   /* Lower half driver pushes raw data by calling this function.
    * It is provided by upper half driver to lower half driver,
    * if paramenter is_nmea is true, the data includes nmea message.
    */
 
-  gps_push_data_t push_data;
+  gnss_push_data_t push_data;
 
-  /* Lower half driver pushes gps event by calling this function.
+  /* Lower half driver pushes GNSS event by calling this function.
    * It is provided by upper half driver to lower half driver.
    * lower half can use type to description the data type, eg:
-   * SENSOR_TYPE_GPS, SENSOR_TYPE_GPS_SATELLITE
+   * SENSOR_TYPE_GNSS, SENSOR_TYPE_GNSS_SATELLITE
    */
 
-  gps_push_event_t push_event;
+  gnss_push_event_t push_event;
 
   /* The private opaque pointer to be passed to upper-layer during callback */
 
@@ -185,16 +185,16 @@ extern "C"
 #endif
 
 /****************************************************************************
- * Name: gps_register
+ * Name: gnss_register
  *
  * Description:
- *   This function binds an instance of a "lower half" gps driver with the
- *   "upper half" gps device and registers that device so that can be used
+ *   This function binds an instance of a "lower half" GNSS driver with the
+ *   "upper half" GNSS device and registers that device so that can be used
  *   by application code.
  *
  * Input Parameters:
- *   dev     - A pointer to an instance of lower half gps driver. This
- *             instance is bound to the gps driver and must persist as long
+ *   dev     - A pointer to an instance of lower half GNSS driver. This
+ *             instance is bound to the GNSS driver and must persist as long
  *             as the driver persists.
  *   devno   - The user specifies which device of this type, from 0. If the
  *             devno alerady exists, -EEXIST will be returned.
@@ -206,28 +206,28 @@ extern "C"
  *
  ****************************************************************************/
 
-int gps_register(FAR struct gps_lowerhalf_s *dev, int devno,
-                 uint32_t nbuffer);
+int gnss_register(FAR struct gnss_lowerhalf_s *dev, int devno,
+                  uint32_t nbuffer);
 
 /****************************************************************************
- * Name: gps_unregister
+ * Name: gnss_unregister
  *
  * Description:
  *   This function unregisters character node and releases all resource from
- *   upper half driver. This API corresponds to the gps_register.
+ *   upper half driver. This API corresponds to the gnss_register.
  *
  * Input Parameters:
- *   dev   - A pointer to an instance of lower half gps driver. This
- *           instance is bound to the gps driver and must persists as long
+ *   dev   - A pointer to an instance of lower half GNSS driver. This
+ *           instance is bound to the GNSS driver and must persists as long
  *           as the driver persists.
  *   devno - The user specifies which device of this type, from 0.
  ****************************************************************************/
 
-void gps_unregister(FAR struct gps_lowerhalf_s *dev, int devno);
+void gnss_unregister(FAR struct gnss_lowerhalf_s *dev, int devno);
 
 #undef EXTERN
 #ifdef __cplusplus
 }
 #endif
 
-#endif /* __INCLUDE_NUTTX_SENSORS_GPS_H */
+#endif /* __INCLUDE_NUTTX_SENSORS_GNSS_H */
diff --git a/include/nuttx/sensors/goldfish_gps.h b/include/nuttx/sensors/goldfish_gnss.h
similarity index 87%
rename from include/nuttx/sensors/goldfish_gps.h
rename to include/nuttx/sensors/goldfish_gnss.h
index 3afd9a71bf5..17636b3cb09 100644
--- a/include/nuttx/sensors/goldfish_gps.h
+++ b/include/nuttx/sensors/goldfish_gnss.h
@@ -1,5 +1,5 @@
 /****************************************************************************
- * include/nuttx/sensors/goldfish_gps.h
+ * include/nuttx/sensors/goldfish_gnss.h
  *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
@@ -18,8 +18,8 @@
  *
  ****************************************************************************/
 
-#ifndef __INCLUDE_NUTTX_SENSORS_GOLDFISH_GPS_H
-#define __INCLUDE_NUTTX_SENSORS_GOLDFISH_GPS_H
+#ifndef __INCLUDE_NUTTX_SENSORS_GOLDFISH_GNSS_H
+#define __INCLUDE_NUTTX_SENSORS_GOLDFISH_GNSS_H
 
 /****************************************************************************
  * Included Files
@@ -37,10 +37,10 @@ extern "C"
 #endif
 
 /****************************************************************************
- * Name: goldfish_gps_init
+ * Name: goldfish_gnss_init
  *
  * Description:
- *   Goldfish GPS driver entrypoint.
+ *   Goldfish GNSS driver entrypoint.
  *
  * Input Parameters:
  *   devno       - The user specifies which device of this type, from 0.
@@ -51,7 +51,7 @@ extern "C"
  *
  ****************************************************************************/
 
-int goldfish_gps_init(int devno, uint32_t batch_number);
+int goldfish_gnss_init(int devno, uint32_t batch_number);
 
 #ifdef __cplusplus
 }
diff --git a/include/nuttx/sensors/wtgahrs2.h b/include/nuttx/sensors/wtgahrs2.h
index bb1455e0360..e426d1545bd 100644
--- a/include/nuttx/sensors/wtgahrs2.h
+++ b/include/nuttx/sensors/wtgahrs2.h
@@ -1,7 +1,7 @@
 /****************************************************************************
  * include/nuttx/sensors/wtgahrs2.h
  * Driver for the Wit-Motion WTGAHRS2 accelerometer, gyroscope, magnetic,
- * angle, barometer, temperature, gps sensors by serial interface with host
+ * angle, barometer, temperature, GNSS sensors by serial interface with host
  *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
@@ -45,7 +45,7 @@ extern "C"
  *
  * Description:
  *   Initialize wrgahrs2 sensor module, it will create accelerometer,
- *   gyroscope, magnetic, barometer, gps character device.
+ *   gyroscope, magnetic, barometer, GNSS character device.
  *
  * Input Parameters:
  *   devpath - The full path to the driver to read data source by serial tty.
diff --git a/include/nuttx/uorb.h b/include/nuttx/uorb.h
index 32b8033029c..ed48fbf3bd6 100644
--- a/include/nuttx/uorb.h
+++ b/include/nuttx/uorb.h
@@ -124,68 +124,60 @@
 
 #define SENSOR_TYPE_IR                              11
 
-/* GPS
- * A sensor of this type returns gps data. Include latitude, longitude,
- * altitude, horizontal position accuracy, vertical position accuracy,
- * horizontal dilution of precision, vertical dilution of precision...
- */
-
-#define SENSOR_TYPE_GPS                             12
-
 /* Ultraviolet light sensor
  * This sensor can identify the UV index in ambient light help people
  * to effectively protect themselves from sunburns, cancer or eye damage.
  * This value range is 0 - 15.
  */
-#define SENSOR_TYPE_ULTRAVIOLET                     13
+#define SENSOR_TYPE_ULTRAVIOLET                     12
 
 /* Noise Loudness
  * A sensor of this type returns the loudness of noise in SI units (db)
  */
 
-#define SENSOR_TYPE_NOISE                           14
+#define SENSOR_TYPE_NOISE                           13
 
 /* PM25
  * A sensor of this type returns the content of pm2.5 in the air
  * This value is in SI units (ug/m^3)
  */
 
-#define SENSOR_TYPE_PM25                            15
+#define SENSOR_TYPE_PM25                            14
 
 /* PM1P0
  * A sensor of this type returns the content of pm1.0 in the air
  * This value is in SI units (ug/m^3)
  */
 
-#define SENSOR_TYPE_PM1P0                           16
+#define SENSOR_TYPE_PM1P0                           15
 
 /* PM10
  * A sensor of this type returns the content of pm10 in the air
  * This value is in SI units (ug/m^3)
  */
 
-#define SENSOR_TYPE_PM10                            17
+#define SENSOR_TYPE_PM10                            16
 
 /* CO2
  * A sensor of this type returns the content of CO2 in the air
  * This value is in units (ppm-part per million).
  */
 
-#define SENSOR_TYPE_CO2                             18
+#define SENSOR_TYPE_CO2                             17
 
 /* HCHO
  * The HCHO pollution is an important indicator of household air
  * pollution. This value is in units (ppm-part per million).
  */
 
-#define SENSOR_TYPE_HCHO                            19
+#define SENSOR_TYPE_HCHO                            18
 
 /* TVOC (total volatile organic compounds)
  * The indoor TVOC is cause indoor air pollution is one of the
  * main reasons why. This value is in units (ppb-part per billion).
  */
 
-#define SENSOR_TYPE_TVOC                            20
+#define SENSOR_TYPE_TVOC                            19
 
 /* PH
  * The acid-base degree describes the strength of the aqueous
@@ -194,21 +186,21 @@
  * pH<7 is acidic, and pH>7 is alkaline.
  */
 
-#define SENSOR_TYPE_PH                              21
+#define SENSOR_TYPE_PH                              20
 
 /* Dust
  * A sensor of this type returns the content of dust in the air
  * values is in ug/m^3.
  */
 
-#define SENSOR_TYPE_DUST                            22
+#define SENSOR_TYPE_DUST                            21
 
 /* Heart Rate
  * A sensor of this type returns the current heart rate.
  * Current heart rate is in beats per minute (BPM).
  */
 
-#define SENSOR_TYPE_HEART_RATE                      23
+#define SENSOR_TYPE_HEART_RATE                      22
 
 /* Heart Beat
  * A sensor of this type returns an event evetytime
@@ -216,7 +208,7 @@
  * to the positive peak in the QRS complex of and ECG signal.
  */
 
-#define SENSOR_TYPE_HEART_BEAT                      24
+#define SENSOR_TYPE_HEART_BEAT                      23
 
 /* ECG (Electrocardiogram)
  * A sensor of this type returns the ECG voltage in μV. Sensors may amplify
@@ -224,7 +216,7 @@
  * voltage.
  */
 
-#define SENSOR_TYPE_ECG                             25
+#define SENSOR_TYPE_ECG                             24
 
 /* PPG Dual (2-channel photoplethysmography)
  * A sensor of this type returns the 2 channels PPG measurements in ADC
@@ -235,7 +227,7 @@
  * measurements. The ADC gains are multipled on the output and affect SNR.
  */
 
-#define SENSOR_TYPE_PPGD                            26
+#define SENSOR_TYPE_PPGD                            25
 
 /* PPG Quad (4-channel photoplethysmography)
  * A sensor of this type returns the 4 channels PPG measurements in ADC
@@ -246,7 +238,7 @@
  * measurements. The ADC gains are multipled on the output and affect SNR.
  */
 
-#define SENSOR_TYPE_PPGQ                            27
+#define SENSOR_TYPE_PPGQ                            26
 
 /* Imdepance
  * A sensor of this type returns the impedance measurements. An impedance
@@ -254,7 +246,7 @@
  * imaginary part(reactance). Both of them are in uint Ohm(Ω).
  */
 
-#define SENSOR_TYPE_IMPEDANCE                       28
+#define SENSOR_TYPE_IMPEDANCE                       27
 
 /* OTS (Optical tracking sensor)
  * A sensor of this type returns the OTS measurements in counts. It
@@ -263,13 +255,7 @@
  * design flexibility into a compact device.
  */
 
-#define SENSOR_TYPE_OTS                             29
-
-/* Sensor of gps satellite
- * A sensor of this type returns the gps satellite information.
- */
-
-#define SENSOR_TYPE_GPS_SATELLITE                   30
+#define SENSOR_TYPE_OTS                             28
 
 /* Wake gesture
  * A sensor enabling waking up the device based on a device specific
@@ -278,7 +264,7 @@
  * uncalibrated topics.
  */
 
-#define SENSOR_TYPE_WAKE_GESTURE                    31
+#define SENSOR_TYPE_WAKE_GESTURE                    29
 
 /* CAP (Capacitive proximity sensor)
  * The purpose of the proximity sensing interface is to detect when a
@@ -286,14 +272,14 @@
  * is in the proximity of the system.
  */
 
-#define SENSOR_TYPE_CAP                             32
+#define SENSOR_TYPE_CAP                             30
 
 /* Gas sensor
  * This sensor measures the gas resistance, indicating the presence
  * of volatile organic compounds in the air.
  */
 
-#define SENSOR_TYPE_GAS                             33
+#define SENSOR_TYPE_GAS                             31
 
 /* Force
  * A sensor of this type measures the force on it, and additionally
@@ -303,7 +289,21 @@
  * some given threshold, a corresponding event is reported.
  */
 
-#define SENSOR_TYPE_FORCE                           34
+#define SENSOR_TYPE_FORCE                           32
+
+/* GNSS
+ * A sensor of this type returns GNSS data. Include latitude, longitude,
+ * altitude, horizontal position accuracy, vertical position accuracy,
+ * horizontal dilution of precision, vertical dilution of precision...
+ */
+
+#define SENSOR_TYPE_GNSS                            33
+
+/* Sensor of GNSS satellite
+ * A sensor of this type returns the GNSS satellite information.
+ */
+
+#define SENSOR_TYPE_GNSS_SATELLITE                  34
 
 /* The total number of sensor */
 
@@ -314,9 +314,9 @@
 #define SENSOR_REMOTE                               (1u << 31)
 #define SENSOR_PERSIST                              (1u << 30)
 
-/* GPS satellite info slots */
+/* GNSS satellite info slots */
 
-#define SENSOR_GPS_SAT_INFO_MAX                     4
+#define SENSOR_GNSS_SAT_INFO_MAX                    4
 
 /* Maximum length of sensor device information name and path name. */
 
@@ -415,40 +415,6 @@ struct sensor_ir            /* Type: Infrared Ray */
   float ir;                 /* in SI units lux */
 };
 
-struct sensor_gps           /* Type: Gps */
-{
-  uint64_t timestamp;       /* Time since system start, Units is microseconds */
-
-  /* This is the timestamp which comes from the gps module. It might be
-   * unavailable right after cold start, indicated by a value of 0,
-   * Units is microseconds
-   */
-
-  uint64_t time_utc;
-
-  float latitude;           /* Unit is degrees */
-  float longitude;          /* Unit is degrees */
-  float altitude;           /* Altitude above MSL(mean seal level), Unit is SI m */
-  float altitude_ellipsoid; /* Altitude bove Ellipsoid, Unit is SI m */
-
-  float eph;                /* GPS horizontal position accuracy (metres) */
-  float epv;                /* GPS vertical position accuracy (metres) */
-
-  float hdop;               /* Horizontal dilution of precision */
-  float pdop;               /* Position dilution of precision */
-  float vdop;               /* Vertical dilution of precision */
-
-  float ground_speed;       /* GPS ground speed, Unit is m/s */
-
-  /* Course over ground (NOT heading, but direction of movement),
-   * Unit is Si degrees
-   */
-
-  float course;
-
-  uint32_t satellites_used; /* Number of satellites used */
-};
-
 struct sensor_uv            /* Type: Ultraviolet Light */
 {
   uint64_t timestamp;       /* Units is microseconds */
@@ -558,7 +524,41 @@ struct sensor_ots           /* Type: OTS */
   int32_t y;                /* Axis Y in counts */
 };
 
-struct sensor_gps_satellite
+struct sensor_gnss          /* Type: GNSS */
+{
+  uint64_t timestamp;       /* Time since system start, Units is microseconds */
+
+  /* This is the timestamp which comes from the GNSS module. It might be
+   * unavailable right after cold start, indicated by a value of 0,
+   * Units is microseconds
+   */
+
+  uint64_t time_utc;
+
+  float latitude;           /* Unit is degrees */
+  float longitude;          /* Unit is degrees */
+  float altitude;           /* Altitude above MSL(mean seal level), Unit is SI m */
+  float altitude_ellipsoid; /* Altitude bove Ellipsoid, Unit is SI m */
+
+  float eph;                /* GNSS horizontal position accuracy (metres) */
+  float epv;                /* GNSS vertical position accuracy (metres) */
+
+  float hdop;               /* Horizontal dilution of precision */
+  float pdop;               /* Position dilution of precision */
+  float vdop;               /* Vertical dilution of precision */
+
+  float ground_speed;       /* GNSS ground speed, Unit is m/s */
+
+  /* Course over ground (NOT heading, but direction of movement),
+   * Unit is Si degrees
+   */
+
+  float course;
+
+  uint32_t satellites_used; /* Number of satellites used */
+};
+
+struct sensor_gnss_satellite
 {
   uint64_t timestamp;       /* Time since system start, Units is microseconds */
   uint32_t count;           /* Total number of messages of satellites visible */
@@ -584,7 +584,7 @@ struct sensor_gps_satellite
 
     uint32_t snr;
   }
-  info[SENSOR_GPS_SAT_INFO_MAX];
+  info[SENSOR_GNSS_SAT_INFO_MAX];
 };
 
 struct sensor_wake_gesture  /* Type: Wake gesture */
diff --git a/libs/libc/Kconfig b/libs/libc/Kconfig
index 15e292d7067..b5d5e027173 100644
--- a/libs/libc/Kconfig
+++ b/libs/libc/Kconfig
@@ -31,6 +31,6 @@ source "libs/libc/builtin/Kconfig"
 source "libs/libc/symtab/Kconfig"
 source "libs/libc/stream/Kconfig"
 source "libs/libc/regex/Kconfig"
-source "libs/libc/gpsutils/Kconfig"
+source "libs/libc/gnssutils/Kconfig"
 source "libs/libc/fdt/Kconfig"
 source "libs/libc/queue/Kconfig"
diff --git a/libs/libc/Makefile b/libs/libc/Makefile
index dd5a3452dd1..747962c36ae 100644
--- a/libs/libc/Makefile
+++ b/libs/libc/Makefile
@@ -32,7 +32,7 @@ include eventfd/Make.defs
 include fixedmath/Make.defs
 include gdbstub/Make.defs
 include grp/Make.defs
-include gpsutils/Make.defs
+include gnssutils/Make.defs
 include hex2bin/Make.defs
 include inttypes/Make.defs
 include libgen/Make.defs
diff --git a/libs/libc/gpsutils/.gitignore b/libs/libc/gnssutils/.gitignore
similarity index 100%
rename from libs/libc/gpsutils/.gitignore
rename to libs/libc/gnssutils/.gitignore
diff --git a/libs/libc/gpsutils/CMakeLists.txt b/libs/libc/gnssutils/CMakeLists.txt
similarity index 93%
rename from libs/libc/gpsutils/CMakeLists.txt
rename to libs/libc/gnssutils/CMakeLists.txt
index 9a82ccecef1..ba07a779786 100644
--- a/libs/libc/gpsutils/CMakeLists.txt
+++ b/libs/libc/gnssutils/CMakeLists.txt
@@ -1,5 +1,5 @@
 # ##############################################################################
-# libs/libc/gpsutils/CMakeLists.txt
+# libs/libc/gnssutils/CMakeLists.txt
 #
 # Licensed to the Apache Software Foundation (ASF) under one or more contributor
 # license agreements.  See the NOTICE file distributed with this work for
@@ -17,7 +17,7 @@
 # the License.
 #
 # ##############################################################################
-if(CONFIG_GPSUTILS_MINMEA_LIB)
+if(CONFIG_GNSSUTILS_MINMEA_LIB)
 
   if(NOT EXISTS ${CMAKE_CURRENT_LIST_DIR}/minmea)
 
@@ -30,7 +30,7 @@ if(CONFIG_GPSUTILS_MINMEA_LIB)
           SOURCE_DIR
           ${CMAKE_CURRENT_LIST_DIR}/minmea
           BINARY_DIR
-          ${CMAKE_BINARY_DIR}/libs/libc/gpsutils/minmea
+          ${CMAKE_BINARY_DIR}/libs/libc/gnssutils/minmea
           CONFIGURE_COMMAND
           ""
           BUILD_COMMAND
diff --git a/libs/libc/gpsutils/Kconfig b/libs/libc/gnssutils/Kconfig
similarity index 93%
rename from libs/libc/gpsutils/Kconfig
rename to libs/libc/gnssutils/Kconfig
index c5680a8ec29..5dde471e758 100644
--- a/libs/libc/gpsutils/Kconfig
+++ b/libs/libc/gnssutils/Kconfig
@@ -3,7 +3,7 @@
 # see the file kconfig-language.txt in the NuttX tools repository.
 #
 
-config GPSUTILS_MINMEA_LIB
+config GNSSUTILS_MINMEA_LIB
 	bool "MINMEA NMEA Library"
 	default n
 	---help---
diff --git a/libs/libc/gpsutils/Make.defs b/libs/libc/gnssutils/Make.defs
similarity index 84%
rename from libs/libc/gpsutils/Make.defs
rename to libs/libc/gnssutils/Make.defs
index 014c7b40d0e..608ac77d942 100644
--- a/libs/libc/gpsutils/Make.defs
+++ b/libs/libc/gnssutils/Make.defs
@@ -1,5 +1,5 @@
 ############################################################################
-# libs/libc/gpsutils/Make.defs
+# libs/libc/gnssutils/Make.defs
 #
 # Licensed to the Apache Software Foundation (ASF) under one or more
 # contributor license agreements.  See the NOTICE file distributed with
@@ -18,12 +18,12 @@
 #
 ############################################################################
 
-ifneq ($(CONFIG_GPSUTILS_MINMEA_LIB),)
+ifneq ($(CONFIG_GNSSUTILS_MINMEA_LIB),)
 
 MINMEA_URL ?= "https://github.com/kosma/minmea/archive"
 MINMEA_VERSION ?= db46128e73cee26d6a6eb0482dcba544ee1ea9f5
 
-MINMEA_UNPACKNAME = gpsutils/minmea
+MINMEA_UNPACKNAME = gnssutils/minmea
 
 $(MINMEA_UNPACKNAME):
 	@echo "Downloading: $(MINMEA_UNPACKNAME)"
@@ -32,7 +32,7 @@ $(MINMEA_UNPACKNAME):
 	$(Q) unzip -o -j $(MINMEA_VERSION).zip -d $(MINMEA_UNPACKNAME)
 	$(call DELFILE, $(MINMEA_VERSION).zip)
 	$(Q) mkdir -p $(TOPDIR)$(DELIM)include$(DELIM)minmea$(DELIM)
-	$(Q) cp gpsutils/minmea/minmea.h $(TOPDIR)$(DELIM)include$(DELIM)minmea$(DELIM)
+	$(Q) cp gnssutils/minmea/minmea.h $(TOPDIR)$(DELIM)include$(DELIM)minmea$(DELIM)
 
 # Files
 
@@ -52,12 +52,12 @@ distclean::
 else
 context::
 	$(Q) mkdir -p $(TOPDIR)$(DELIM)include$(DELIM)minmea$(DELIM)
-	$(Q) cp gpsutils/minmea/minmea.h $(TOPDIR)$(DELIM)include$(DELIM)minmea$(DELIM)
+	$(Q) cp gnssutils/minmea/minmea.h $(TOPDIR)$(DELIM)include$(DELIM)minmea$(DELIM)
 
 distclean::
 	$(call DELDIR, $(TOPDIR)$(DELIM)include$(DELIM)minmea$(DELIM))
 endif
 
-DEPPATH += --dep-path gpsutils/minmea
-VPATH += :gpsutils/minmea
+DEPPATH += --dep-path gnssutils/minmea
+VPATH += :gnssutils/minmea
 endif