diff --git a/system/uorb/sensor/gps.c b/system/uorb/sensor/gnss.c
similarity index 87%
rename from system/uorb/sensor/gps.c
rename to system/uorb/sensor/gnss.c
index 913356d2d..23b64949f 100644
--- a/system/uorb/sensor/gps.c
+++ b/system/uorb/sensor/gnss.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * apps/system/uorb/sensor/gps.c
+ * apps/system/uorb/sensor/gnss.c
  *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
@@ -22,19 +22,19 @@
  * Included Files
  ****************************************************************************/
 
-#include <sensor/gps.h>
+#include <sensor/gnss.h>
 
 /****************************************************************************
  * Private Functions
  ****************************************************************************/
 
 #ifdef CONFIG_DEBUG_UORB
-static const char sensor_gps_format[] =
+static const char sensor_gnss_format[] =
   "timestamp:%" PRIu64 ",time_utc:%" PRIu64 ",latitude:%hf,longitude:%hf,"
   "altitude:%hf,altitude_ellipsoid:%hf,eph:%hf,epv:%hf,hdop:%hf,pdop:%hf,"
   "vdop:%hf,ground_speed:%hf,course:%hf,satellites_used:%" PRIu32 "";
 
-static const char sensor_gps_satellite_format[] =
+static const char sensor_gnss_satellite_format[] =
   "timestamp:%" PRIu64 ",count:%" PRIu32 ",satellites:%" PRIu32 ","
   "svid0:%" PRIu32 ",elevation0:%" PRIu32 ",azimuth0:%" PRIu32 ","
   "snr0:%" PRIu32 ",svid1:%" PRIu32 ",elevation1:%" PRIu32 ","
@@ -48,6 +48,6 @@ static const char sensor_gps_satellite_format[] =
  * Public Data
  ****************************************************************************/
 
-ORB_DEFINE(sensor_gps, struct sensor_gps, sensor_gps_format);
-ORB_DEFINE(sensor_gps_satellite, struct sensor_gps_satellite,
-           sensor_gps_satellite_format);
+ORB_DEFINE(sensor_gnss, struct sensor_gnss, sensor_gnss_format);
+ORB_DEFINE(sensor_gnss_satellite, struct sensor_gnss_satellite,
+           sensor_gnss_satellite_format);
diff --git a/system/uorb/sensor/gps.h b/system/uorb/sensor/gnss.h
similarity index 88%
rename from system/uorb/sensor/gps.h
rename to system/uorb/sensor/gnss.h
index 1c0300ae1..86024d549 100644
--- a/system/uorb/sensor/gps.h
+++ b/system/uorb/sensor/gnss.h
@@ -1,5 +1,5 @@
 /****************************************************************************
- * apps/system/uorb/sensor/gps.h
+ * apps/system/uorb/sensor/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 __APPS_SYSTEM_UORB_SENSOR_GPS_H
-#define __APPS_SYSTEM_UORB_SENSOR_GPS_H
+#ifndef __APPS_SYSTEM_UORB_SENSOR_GNSS_H
+#define __APPS_SYSTEM_UORB_SENSOR_GNSS_H
 
 /****************************************************************************
  * Included Files
@@ -33,7 +33,7 @@
 
 /* register this as object request broker structure */
 
-ORB_DECLARE(sensor_gps);
-ORB_DECLARE(sensor_gps_satellite);
+ORB_DECLARE(sensor_gnss);
+ORB_DECLARE(sensor_gnss_satellite);
 
 #endif
diff --git a/system/uorb/sensor/topics.c b/system/uorb/sensor/topics.c
index 846e32dab..cb577cf97 100644
--- a/system/uorb/sensor/topics.c
+++ b/system/uorb/sensor/topics.c
@@ -39,7 +39,7 @@
 #include <sensor/ecg.h>
 #include <sensor/force.h>
 #include <sensor/gas.h>
-#include <sensor/gps.h>
+#include <sensor/gnss.h>
 #include <sensor/gyro.h>
 #include <sensor/gesture.h>
 #include <sensor/hall.h>
@@ -82,8 +82,8 @@ static FAR const struct orb_metadata *g_sensor_list[] =
   ORB_ID(sensor_ecg),
   ORB_ID(sensor_force),
   ORB_ID(sensor_gas),
-  ORB_ID(sensor_gps),
-  ORB_ID(sensor_gps_satellite),
+  ORB_ID(sensor_gnss),
+  ORB_ID(sensor_gnss_satellite),
   ORB_ID(sensor_gyro),
   ORB_ID(sensor_gyro_uncal),
   ORB_ID(sensor_hall),