CSS Electronics CANmod.gps

The CANmod.gps generates GNSS position and 3D inertial data & outputs them via configurable CAN bus frames.


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Product number: CSS-116
Manufacturer: CSS Electronics


This standalone GPS-to-CAN module generates GNSS position and 3D inertial data (via a gyroscope and accelerometer) and outputs it via configurable CAN bus frames.

The module supports "Untethered Dead Reckoning" - this means that even if the GNSS signal is completely lost, the module can provide continuous positioning through IMU-based estimates (no external inputs required).

You can integrate the module into any CAN bus, e.g. vehicle networks or CAN hardware. For example, you can use it as a plug & play add-on module for the CANedge .


  • PLUG
    Standalone - no PC required. Integrate it into any CAN bus to add GNSS/IMU data. DBC included

    Only 7 x 2 x 5 cm. 70G. Aluminium housing. 4 LEDs. 5-26 V DC via DB9. USB for configuration/firmware/stream

    1 Hz GNSS position. Warm start via battery backup. GPS, Galileo, BeiDou, GLONASS

  • Inertial data
    Built-in gyroscope (roll, pitch, yaw) and accelerometer (X, Y, Z). 100 Hz frequency

    High-precision position and attitude data through sensor fusion of GNSS/IMU

    Configure CAN IDs, bit rate, data frequency and geofences via the JSON configuration and GUI

Add GNSS/IMU data to any CAN bus system

With CANmod.gps you can easily add position and 3D inertial data to your CAN bus - e.g. for use by ECUs or CAN hardware.

  • Compatible with any high-speed CAN bus (2.0A, 2.0B)
  • Fully configure CAN IDs, bit rate and message frequency
  • Power supply with 5-26 V DC via standard DB9 adapter cable
  • Optionally, you can record the data via any CAN interface/logger/... .
  • Example: Use as an add-on for the CANedge (power supply via 2nd port)
  • DBC file included for easy decoding into a human-readable form
  • Optionally stream sensor data via USB in real time
  • White label e.g. for integration into your production

Example: Add GNSS/IMU data to CANedge protocol data

Easily extend your CAN/LIN data from CANedge2 with GNSS/IMU information by connecting the CANmod.gps to the 2nd port.

Check out the online playground with OBD2 + GNSS/IMU data at
- or learn more in our intro!

GPS and 3D-IMU - Enrich your data


The following functions and data can be used and recorded with the help of GPS and 3D IMU
Position + sensor fusionAddtime-synchronised GPS positioning to your CAN/LIN data - with sensor fusion (UDR) for 3x higher accuracy.
SpeedSpeed datais useful, for example. Fleet telematics to determine speeding, idle time, asset utilisation and more.
AltitudeAltitudeis critical, e.g. analysing fuel/battery consumption - or e.g. in aerospace applications such as drones, aircraft etc.
InclinationTheGNSS/IMU enables position data and provides a 3D view of the system orientation at all times [Automotive].
Trip distanceOdometer dataenables easy tracking of the distance travelled by the system (since the module was last switched on and off).
Angular velocities3D-IMU angular ratescan be used, for example, to analyse driving and vehicle dynamics (tyres/suspension, drifting, ...).
Acceleration rates3D IMU acceleration ratescan be used, for example. Driving quality analysis and predictive maintenance.
GeofencesConfigurablecircular geofences are useful for e.g. theft prevention, security, automation and more
TimestampThehigh-precision epoch timestamp is useful, e.g. when synchronising the CANedge real-time clock.


GPS-to-CAN-Bus with 3D Inertial Sensor

Technical Data

Model specification
FunctionalityThe configurable device generates GNSS/IMU data and outputs it via CAN bus and/or USB
IncludedCANmod.gps module, u-blox GPS antenna and USB dust cover (mini-USB adapter not included)
FirmwareSupports free firmware updates via USB to add functions
ConfigurationConfiguration files based on the popular open source -JSON schema concept (similar to CANedge)
SoftwareFree open source editor tool for easy device configuration (offline/online version available)
Safety and securityCE, FCC, IC and RoHS certified (certificates can be found in the documents)
Warranty1 year warranty
SupportFree, fast and high-quality support
Country of originDenmark
ModuleProfessional u-blox NEO-M8U (72-channel) sensor with integrated gyroscope and accelerometer
GNSSSupports (combinations of) GPS (USA), Galileo (Europe), BeiDou (China), GLONASS (Russia)
GeofencesSupports 0-4 configurable circular geofences (status is sent via CAN bus)
Sensor fusion (UDR)Improved position accuracy through sensor fusion ( UDR ) of GNSS and 3D-IMU (automotive only)
AcquisitionCold starts: 26 s | Supported starts: 3 s | Resumption: 1 s
SensitivityTracking/navigation: 160 dBm | Cold starts: 148 dBm | Hot starts: 157 dBm
Battery backupThe module has a backup battery to perform "assisted starts". (3 s) between power cycles
AccuracyPosition: 2.5 m CEP (circular error likely)
Heading: 1 degree (50 % at 30 m/s)
Speed: 0.05 m/s (50 % at 30 m/s)
CAN signalsThe module communicates several GNSS/IMU signals (a complete list can be found in the documents or in the DBC file).
GNSS position: Longitude and latitude information [1 Hz]
GNSS time: Precise GNSS-based epoch timestamp [1 Hz]
GNSS status: Fixed type (NO/UDR/2D/3D/GNSS+UDR) and number of satellites [1 Hz]
GNSS speed: Cruising speed in metres/second [1 Hz]
GNSS altitude: Altitude information in metres [1 Hz]
GNSS attitude/alignment: Roll, pitch, heading [1 Hz]
GNSS odometer: Distance travelled (since power on and total) [1 Hz]
3D-IMU: Gyroscope-based angular velocity (X, Y, Z) and accelerometer-based acceleration (X, Y, Z) [100 Hz]
Geofences: Status of configured geofences [1 Hz]
Channels1 x CAN channel
ModesThe device can either send the data to the CAN bus or provide it on request
StandardISO 11898: Compliant with CAN (up to 1 Mbit/s)
IdentifiersCompliant with CAN specifications 2.0A (11-bit ID) and 2.0B (29-bit ID)
TerminationTermination can be changed using the switch under the DB9 connection
RetransmissionRetransmission of frames that have lost arbitration or have been disturbed by errors
Transceiver protectionProtection: +/- 25 kV HBM ESD, +/-12 kV IEC ESD, +/-14 V bus error, short circuit
Common mode input voltage: +/-12 V
TXD-dominant timeout (prevents network blocking in the event of an error)
Bit rateChoose between standard bit rates (5K to 1M) or use customised bit timing
Enable DisableEnable/disable each CAN message individually
Identifier customisationConfigure CAN IDs for all messages individually (11-bit or 29-bit)
Push/poll modeConfigure individual "trigger" modes for all messages (push or poll)
FrequencyIndividually configure the prescaling of the standard message frequencies to lower rates
IMU correctionOptionally compensate the alignment of the module as part of the IMU configuration
Input supply+5V to +26V DC via the DB9 connector (power supply via pin 1 or pin 9)
Alternative power supply via USB (for updating firmware/configuration or streaming data in real time).
Power consumptionExtremely low (<1 W) - No risk of battery discharge
ProtectionReverse polarity protection of the CAN bus supply
Protection against transient voltage events on supply lines
Housing and weightCompact aluminium housing: 52.5 x 70.0 x 24.5 mm (L x W x H) excl. antenna, 70 grams
Connector1 x standard D-Sub 9 connector (DB9).
Pin assignmentInformation on the pin assignments of the DB9 connector can be found in the product manual
USBStandard mini-USB port for configuration/firmware updates and streaming (USB cable not included)
LEDsModule status via 4 external LEDs: Power, CAN bus, memory, GNSS
Operating temperatureOperating temperature (parts): -25 °C to +70 °C
IP ratingIP protection class 40
MountingThe module can be mounted using robust double-sided adhesive tape, cable ties or a mounting bracket, for example
GPS antennau-blox ANN-MS-0-005 (SMA connector, 5 m cable, magnetic base, -40 to +85 °C, 48 x 40 x 13 mm)