diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/GnssSensor.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/GnssSensor.cpp
index a3f045243..4c8aa5dc0 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/GnssSensor.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/GnssSensor.cpp
@@ -8,6 +8,7 @@
 #include "Carla/Sensor/GnssSensor.h"
 #include "Carla/Game/CarlaEpisode.h"
 #include "Carla/Game/CarlaStatics.h"
+#include "Carla/MapGen/LargeMapManager.h"
 
 #include <compiler/disable-ue4-macros.h>
 #include "carla/geom/Vector3D.h"
@@ -34,7 +35,14 @@ void AGnssSensor::Set(const FActorDescription &ActorDescription)
 void AGnssSensor::PostPhysTick(UWorld *World, ELevelTick TickType, float DeltaSeconds)
 {
   TRACE_CPUPROFILER_EVENT_SCOPE(AGnssSensor::PostPhysTick);
-  carla::geom::Location Location = GetActorLocation();
+
+  FVector ActorLocation = GetActorLocation();
+  ALargeMapManager * LargeMap = UCarlaStatics::GetLargeMapManager(GetWorld());
+  if (LargeMap)
+  {
+    ActorLocation = LargeMap->LocalToGlobalLocation(ActorLocation);
+  }
+  carla::geom::Location Location = ActorLocation;
   carla::geom::GeoLocation CurrentLocation = CurrentGeoReference.Transform(Location);
 
   // Compute the noise for the sensor