diff --git a/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnss.aidl b/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnss.aidl
index a3cd8ae..9bd04a0 100644
--- a/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnss.aidl
+++ b/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnss.aidl
@@ -42,6 +42,7 @@
   android.hardware.gnss.IGnssPowerIndication getExtensionGnssPowerIndication();
   @nullable android.hardware.gnss.IGnssBatching getExtensionGnssBatching();
   @nullable android.hardware.gnss.IGnssGeofence getExtensionGnssGeofence();
+  @nullable android.hardware.gnss.IGnssNavigationMessageInterface getExtensionGnssNavigationMessage();
   const int ERROR_INVALID_ARGUMENT = 1;
   const int ERROR_ALREADY_INIT = 2;
   const int ERROR_GENERIC = 3;
diff --git a/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnssNavigationMessageCallback.aidl b/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnssNavigationMessageCallback.aidl
new file mode 100644
index 0000000..d513c15
--- /dev/null
+++ b/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnssNavigationMessageCallback.aidl
@@ -0,0 +1,68 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+///////////////////////////////////////////////////////////////////////////////
+// THIS FILE IS IMMUTABLE. DO NOT EDIT IN ANY CASE.                          //
+///////////////////////////////////////////////////////////////////////////////
+
+// This file is a snapshot of an AIDL file. Do not edit it manually. There are
+// two cases:
+// 1). this is a frozen version file - do not edit this in any case.
+// 2). this is a 'current' file. If you make a backwards compatible change to
+//     the interface (from the latest frozen version), the build system will
+//     prompt you to update this file with `m <name>-update-api`.
+//
+// You must not make a backward incompatible change to any AIDL file built
+// with the aidl_interface module type with versions property set. The module
+// type is used to build AIDL files in a way that they can be used across
+// independently updatable components of the system. If a device is shipped
+// with such a backward incompatible change, it has a high risk of breaking
+// later when a module using the interface is updated, e.g., Mainline modules.
+
+package android.hardware.gnss;
+@VintfStability
+interface IGnssNavigationMessageCallback {
+  void gnssNavigationMessageCb(in android.hardware.gnss.IGnssNavigationMessageCallback.GnssNavigationMessage message);
+  @VintfStability
+  parcelable GnssNavigationMessage {
+    int svid;
+    android.hardware.gnss.IGnssNavigationMessageCallback.GnssNavigationMessage.GnssNavigationMessageType type;
+    int status;
+    int messageId;
+    int submessageId;
+    byte[] data;
+    const int STATUS_PARITY_PASSED = 1;
+    const int STATUS_PARITY_REBUILT = 2;
+    const int STATUS_UNKNOWN = 0;
+    @Backing(type="int") @VintfStability
+    enum GnssNavigationMessageType {
+      UNKNOWN = 0,
+      GPS_L1CA = 257,
+      GPS_L2CNAV = 258,
+      GPS_L5CNAV = 259,
+      SBS = 513,
+      GPS_CNAV2 = 260,
+      GLO_L1CA = 769,
+      QZS_L1CA = 1025,
+      BDS_D1 = 1281,
+      BDS_D2 = 1282,
+      BDS_CNAV1 = 1283,
+      BDS_CNAV2 = 1284,
+      GAL_I = 1537,
+      GAL_F = 1538,
+      IRN_L5CA = 1793,
+    }
+  }
+}
diff --git a/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnssNavigationMessageInterface.aidl b/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnssNavigationMessageInterface.aidl
new file mode 100644
index 0000000..196e9b9
--- /dev/null
+++ b/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnssNavigationMessageInterface.aidl
@@ -0,0 +1,39 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+///////////////////////////////////////////////////////////////////////////////
+// THIS FILE IS IMMUTABLE. DO NOT EDIT IN ANY CASE.                          //
+///////////////////////////////////////////////////////////////////////////////
+
+// This file is a snapshot of an AIDL file. Do not edit it manually. There are
+// two cases:
+// 1). this is a frozen version file - do not edit this in any case.
+// 2). this is a 'current' file. If you make a backwards compatible change to
+//     the interface (from the latest frozen version), the build system will
+//     prompt you to update this file with `m <name>-update-api`.
+//
+// You must not make a backward incompatible change to any AIDL file built
+// with the aidl_interface module type with versions property set. The module
+// type is used to build AIDL files in a way that they can be used across
+// independently updatable components of the system. If a device is shipped
+// with such a backward incompatible change, it has a high risk of breaking
+// later when a module using the interface is updated, e.g., Mainline modules.
+
+package android.hardware.gnss;
+@VintfStability
+interface IGnssNavigationMessageInterface {
+  void setCallback(in android.hardware.gnss.IGnssNavigationMessageCallback callback);
+  void close();
+}
diff --git a/gnss/aidl/android/hardware/gnss/IGnss.aidl b/gnss/aidl/android/hardware/gnss/IGnss.aidl
index e019d35..42cc496 100644
--- a/gnss/aidl/android/hardware/gnss/IGnss.aidl
+++ b/gnss/aidl/android/hardware/gnss/IGnss.aidl
@@ -21,6 +21,7 @@
 import android.hardware.gnss.IGnssConfiguration;
 import android.hardware.gnss.IGnssGeofence;
 import android.hardware.gnss.IGnssMeasurementInterface;
+import android.hardware.gnss.IGnssNavigationMessageInterface;
 import android.hardware.gnss.IGnssPowerIndication;
 import android.hardware.gnss.IGnssPsds;
 
@@ -118,4 +119,11 @@
      * @return Handle to the IGnssGeofence interface.
      */
     @nullable IGnssGeofence getExtensionGnssGeofence();
+
+    /**
+     * This method returns the IGnssNavigationMessageInterface.
+     *
+     * @return Handle to the IGnssNavigationMessageInterface.
+     */
+    @nullable IGnssNavigationMessageInterface getExtensionGnssNavigationMessage();
 }
diff --git a/gnss/aidl/android/hardware/gnss/IGnssNavigationMessageCallback.aidl b/gnss/aidl/android/hardware/gnss/IGnssNavigationMessageCallback.aidl
new file mode 100644
index 0000000..0fdfaf8
--- /dev/null
+++ b/gnss/aidl/android/hardware/gnss/IGnssNavigationMessageCallback.aidl
@@ -0,0 +1,240 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package android.hardware.gnss;
+
+/** Represents a GNSS navigation message (or a fragment of it). */
+@VintfStability
+interface IGnssNavigationMessageCallback {
+    /**
+     * Represents a reading of GNSS measurements. For devices launched in Android Q or newer, it is
+     * mandatory that these be provided, on request, when the GNSS receiver is searching/tracking
+     * signals.
+     *
+     * - Reporting of GNSS constellation measurements is mandatory.
+     * - Reporting of all tracked constellations are encouraged.
+     */
+    @VintfStability
+    parcelable GnssNavigationMessage {
+        /**
+         * Status of Navigation Message
+         *
+         * When a message is received properly without any parity error in its
+         * navigation words, the status must be set to PARITY_PASSED.
+         *
+         * If a message is received with words that failed a parity check, but the GNSS
+         * receiver has corrected those words, the status must be set to PARITY_REBUILT.
+         *
+         * Do not send any navigation message that contains words with parity errors
+         * that cannot be corrected.
+         */
+        const int STATUS_PARITY_PASSED = (1 << 0);
+        const int STATUS_PARITY_REBUILT = (1 << 1);
+        const int STATUS_UNKNOWN = 0;
+
+        /**
+         * Enumeration of available values to indicate the GNSS Navigation message
+         * types.
+         *
+         * For convenience, first byte is the GnssConstellationType on which that signal
+         * is typically transmitted.
+         */
+        @VintfStability
+        @Backing(type="int")
+        enum GnssNavigationMessageType {
+            UNKNOWN = 0,
+
+            /** GPS L1 C/A message contained in the structure.  */
+            GPS_L1CA = 0x0101,
+
+            /** GPS L2-CNAV message contained in the structure. */
+            GPS_L2CNAV = 0x0102,
+
+            /** GPS L5-CNAV message contained in the structure. */
+            GPS_L5CNAV = 0x0103,
+
+            /* SBAS message contained in the structure. */
+            SBS = 0x0201,
+
+            /** GPS CNAV-2 message contained in the structure. */
+            GPS_CNAV2 = 0x0104,
+
+            /** Glonass L1 CA message contained in the structure. */
+            GLO_L1CA = 0x0301,
+
+            /** QZSS L1 C/A message contained in the structure. */
+            QZS_L1CA = 0x0401,
+
+            /** Beidou D1 message contained in the structure. */
+            BDS_D1 = 0x0501,
+
+            /** Beidou D2 message contained in the structure. */
+            BDS_D2 = 0x0502,
+
+            /** Beidou CNAV1 message contained in the structure. */
+            BDS_CNAV1 = 0x0503,
+
+            /** Beidou CNAV2 message contained in the structure. */
+            BDS_CNAV2 = 0x0504,
+
+            /** Galileo I/NAV message contained in the structure. */
+            GAL_I = 0x0601,
+
+            /** Galileo F/NAV message contained in the structure. */
+            GAL_F = 0x0602,
+
+            /** IRNSS L5 C/A message contained in the structure. */
+            IRN_L5CA = 0x0701,
+        }
+
+        /**
+         * Satellite vehicle ID number, as defined in GnssSvInfo::svid
+         *
+         * This is a mandatory value.
+         */
+        int svid;
+
+        /**
+         * The type of message contained in the structure.
+         *
+         * This is a mandatory value.
+         */
+        GnssNavigationMessageType type;
+
+        /**
+         * The status of the received navigation message.
+         *
+         * It is a bitfield of constants with prefix "STATUS_" defined in this structure.
+         *
+         * No need to send any navigation message that contains words with parity
+         * errors that cannot be corrected.
+         */
+        int status;
+
+        /**
+         * Message identifier. It provides an index so the complete Navigation
+         * Message can be assembled.
+         *
+         * - For GNSS L1 C/A subframe 4 and 5, this value corresponds to the 'frame
+         *   id' of the navigation message, in the range of 1-25 (Subframe 1, 2, 3
+         *   does not contain a 'frame id' and this value can be set to -1.)
+         *
+         * - For Glonass L1 C/A, this refers to the frame ID, in the range of 1-5.
+         *
+         * - For BeiDou D1, this refers to the frame number in the range of 1-24
+         *
+         * - For Beidou D2, this refers to the frame number, in the range of 1-120
+         *
+         * - For Galileo F/NAV nominal frame structure, this refers to the subframe
+         *   number, in the range of 1-12
+         *
+         * - For Galileo I/NAV nominal frame structure, this refers to the subframe
+         *   number in the range of 1-24
+         *
+         * - For SBAS and Beidou CNAV2, this is unused and can be set to -1.
+         *
+         * - For QZSS L1 C/A subframe 4 and 5, this value corresponds to the 'frame id' of the
+         *   navigation message, in the range of 1-25. (Subframe 1, 2, 3 does not contain a 'frame
+         *   id' and this value can be set to -1.)
+         *
+         * - For Beidou CNAV1 this refers to the page type number in the range of 1-63.
+         *
+         * - For IRNSS L5 C/A subframe 3 and 4, this value corresponds to the Message Id of the
+         *   navigation message, in the range of 1-63. (Subframe 1 and 2 does not contain a message
+         *   type id and this value can be set to -1.)
+         */
+        int messageId;
+
+        /**
+         * Sub-message identifier. If required by the message 'type', this value contains a
+         * sub-index within the current message (or frame) that is being transmitted.
+         *
+         * - For GNSS L1 C/A, BeiDou D1 & BeiDou D2, the submessage id corresponds to the subframe
+         *   number of the navigation message, in the range of 1-5.
+         *
+         * - For Glonass L1 C/A, this refers to the String number, in the range from 1-15.
+         *
+         * - For Galileo F/NAV, this refers to the page type in the range 1-6.
+         *
+         * - For Galileo I/NAV, this refers to the word type in the range 0-10+. A value of 0 is
+         *   only allowed if the Satellite is transmiting a Spare Word.
+         *
+         * - For Galileo in particular, the type information embedded within the data bits may be
+         *   even more useful in interpretation, than the nominal page and word types provided in
+         *   this field.
+         *
+         * - For SBAS, the submessage id corresponds to the message type, in the range 1-63.
+         *
+         * - For Beidou CNAV1, the submessage id corresponds to the subframe number of the
+         *   navigation message, in the range of 1-3.
+         *
+         * - For Beidou CNAV2, the submessage id corresponds to the message type, in the range 1-63.
+         *
+         * - For IRNSS L5 C/A, the submessage id corresponds to the subframe number of the
+         *   navigation message, in the range of 1-4.
+         */
+        int submessageId;
+
+        /**
+         * The data of the reported GNSS message. The bytes (or words) are specified
+         * using big endian format (MSB first).
+         *
+         * - For GNSS L1 C/A, Beidou D1 & Beidou D2, each subframe contains 10 30-bit
+         *   words. Each word (30 bits) must fit into the last 30 bits in a
+         *   4-byte word (skip B31 and B32), with MSB first, for a total of 40
+         *   bytes, covering a time period of 6, 6, and 0.6 seconds, respectively.
+         *   The standard followed is 1995 SPS Signal specification.
+         *
+         * - For Glonass L1 C/A, each string contains 85 data bits, including the
+         *   checksum.  These bits must fit into 11 bytes, with MSB first (skip
+         *   B86-B88), covering a time period of 2 seconds.
+         *   The standard followed is Glonass Interface Control Document Edition 5.1.
+         *
+         * - For Galileo F/NAV, each word consists of 238-bit (sync & tail symbols
+         *   excluded). Each word must fit into 30-bytes, with MSB first (skip
+         *   B239, B240), covering a time period of 10 seconds. The standard
+         *   followed is European GNSS(Galileo) Signal in Space Interface
+         *   Control Document Issue 1.2.
+         *
+         * - For Galileo I/NAV, each page contains 2 page parts, even and odd, with
+         *   a total of 2x114 = 228 bits, (sync & tail excluded) that must fit
+         *   into 29 bytes, with MSB first (skip B229-B232). The standard followed
+         *   is same as above.
+         *
+         * - For SBAS, each block consists of 250 data bits, that should be fit into 32 bytes. MSB
+         *   first (skip B251-B256).
+         *
+         * - For Beidou CNAV1, subframe #1 consists of 14 data bits, that should be fit into 2
+         *   bytes. MSB first (skip B15-B16).  subframe #2 consists of 600 bits that should be fit
+         *   into 75 bytes. subframe #3 consists of 264 data bits that should be fit into 33 bytes.
+         *
+         * - For Beidou CNAV2, each subframe consists of 288 data bits, that should be fit into 36
+         *   bytes.
+         *
+         * The data reported here must be the raw data as demodulated by the GNSS receiver, not data
+         * received from an external source (i.e. not from a server download.)
+         */
+        byte[] data;
+    }
+
+    /**
+     * The callback to report an available fragment of a GNSS navigation messages
+     * from the HAL.
+     *
+     * @param message - The GNSS navigation submessage/subframe representation.
+     */
+    void gnssNavigationMessageCb(in GnssNavigationMessage message);
+}
diff --git a/gnss/aidl/android/hardware/gnss/IGnssNavigationMessageInterface.aidl b/gnss/aidl/android/hardware/gnss/IGnssNavigationMessageInterface.aidl
new file mode 100644
index 0000000..e2f57c3
--- /dev/null
+++ b/gnss/aidl/android/hardware/gnss/IGnssNavigationMessageInterface.aidl
@@ -0,0 +1,46 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package android.hardware.gnss;
+
+import android.hardware.gnss.IGnssNavigationMessageCallback;
+
+/**
+ * Extended interface for GNSS navigation message reporting support.
+ */
+@VintfStability
+interface IGnssNavigationMessageInterface {
+    /**
+     * Initializes the interface and registers the callback routines with the HAL.
+     *
+     * After a successful call to 'setCallback' the HAL must begin to provide updates as
+     * they become available.
+     *
+     * @param callback handle to IGnssNavigationMessageCallack interface.
+     */
+    void setCallback(in IGnssNavigationMessageCallback callback);
+
+    /**
+     * Stops updates from the HAL, and unregisters the callback routines.
+     *
+     * After a call to close(), the previously registered callbacks must be
+     * considered invalid by the HAL.
+     *
+     * If close() is invoked without a previous setCallback, this function must perform
+     * no work.
+     */
+    void close();
+}
diff --git a/gnss/aidl/default/Android.bp b/gnss/aidl/default/Android.bp
index 29bc5c4..b6df895 100644
--- a/gnss/aidl/default/Android.bp
+++ b/gnss/aidl/default/Android.bp
@@ -59,6 +59,7 @@
         "GnssBatching.cpp",
         "GnssGeofence.cpp",
         "GnssHidlHal.cpp",
+        "GnssNavigationMessageInterface.cpp",
         "GnssPowerIndication.cpp",
         "GnssPsds.cpp",
         "GnssConfiguration.cpp",
diff --git a/gnss/aidl/default/Gnss.cpp b/gnss/aidl/default/Gnss.cpp
index 03d9e31..8d58a20 100644
--- a/gnss/aidl/default/Gnss.cpp
+++ b/gnss/aidl/default/Gnss.cpp
@@ -22,6 +22,7 @@
 #include "GnssConfiguration.h"
 #include "GnssGeofence.h"
 #include "GnssMeasurementInterface.h"
+#include "GnssNavigationMessageInterface.h"
 #include "GnssPsds.h"
 
 namespace aidl::android::hardware::gnss {
@@ -104,4 +105,12 @@
     return ndk::ScopedAStatus::ok();
 }
 
+ndk::ScopedAStatus Gnss::getExtensionGnssNavigationMessage(
+        std::shared_ptr<IGnssNavigationMessageInterface>* iGnssNavigationMessage) {
+    ALOGD("Gnss::getExtensionGnssNavigationMessage");
+
+    *iGnssNavigationMessage = SharedRefBase::make<GnssNavigationMessageInterface>();
+    return ndk::ScopedAStatus::ok();
+}
+
 }  // namespace aidl::android::hardware::gnss
diff --git a/gnss/aidl/default/Gnss.h b/gnss/aidl/default/Gnss.h
index 8e573b5..128a6c1 100644
--- a/gnss/aidl/default/Gnss.h
+++ b/gnss/aidl/default/Gnss.h
@@ -42,6 +42,8 @@
             std::shared_ptr<IGnssBatching>* iGnssBatching) override;
     ndk::ScopedAStatus getExtensionGnssGeofence(
             std::shared_ptr<IGnssGeofence>* iGnssGeofence) override;
+    ndk::ScopedAStatus getExtensionGnssNavigationMessage(
+            std::shared_ptr<IGnssNavigationMessageInterface>* iGnssNavigationMessage) override;
 
     std::shared_ptr<GnssConfiguration> mGnssConfiguration;
     std::shared_ptr<GnssPowerIndication> mGnssPowerIndication;
diff --git a/gnss/aidl/default/GnssNavigationMessageInterface.cpp b/gnss/aidl/default/GnssNavigationMessageInterface.cpp
new file mode 100644
index 0000000..4bc859d
--- /dev/null
+++ b/gnss/aidl/default/GnssNavigationMessageInterface.cpp
@@ -0,0 +1,94 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#define LOG_TAG "GnssNavigationMessageAidl"
+
+#include "GnssNavigationMessageInterface.h"
+#include <aidl/android/hardware/gnss/BnGnss.h>
+#include <log/log.h>
+#include "Utils.h"
+
+namespace aidl::android::hardware::gnss {
+
+using namespace ::android::hardware::gnss;
+using GnssNavigationMessage = IGnssNavigationMessageCallback::GnssNavigationMessage;
+using GnssNavigationMessageType = GnssNavigationMessage::GnssNavigationMessageType;
+
+std::shared_ptr<IGnssNavigationMessageCallback> GnssNavigationMessageInterface::sCallback = nullptr;
+
+GnssNavigationMessageInterface::GnssNavigationMessageInterface() : mMinIntervalMillis(1000) {}
+
+GnssNavigationMessageInterface::~GnssNavigationMessageInterface() {
+    stop();
+}
+
+ndk::ScopedAStatus GnssNavigationMessageInterface::setCallback(
+        const std::shared_ptr<IGnssNavigationMessageCallback>& callback) {
+    ALOGD("setCallback");
+    std::unique_lock<std::mutex> lock(mMutex);
+    sCallback = callback;
+    start();
+    return ndk::ScopedAStatus::ok();
+}
+
+ndk::ScopedAStatus GnssNavigationMessageInterface::close() {
+    ALOGD("close");
+    stop();
+    std::unique_lock<std::mutex> lock(mMutex);
+    sCallback = nullptr;
+    return ndk::ScopedAStatus::ok();
+}
+
+void GnssNavigationMessageInterface::start() {
+    ALOGD("start");
+    mIsActive = true;
+    mThread = std::thread([this]() {
+        while (mIsActive == true) {
+            GnssNavigationMessage message = {
+                    .svid = 19,
+                    .type = GnssNavigationMessageType::GPS_L1CA,
+                    .status = GnssNavigationMessage::STATUS_PARITY_PASSED,
+                    .messageId = 2,
+                    .submessageId = 3,
+                    .data = std::vector<uint8_t>(40, 0xF9),
+            };
+            this->reportMessage(message);
+            std::this_thread::sleep_for(std::chrono::milliseconds(mMinIntervalMillis));
+        }
+    });
+    mThread.detach();
+}
+
+void GnssNavigationMessageInterface::stop() {
+    ALOGD("stop");
+    mIsActive = false;
+}
+
+void GnssNavigationMessageInterface::reportMessage(const GnssNavigationMessage& message) {
+    ALOGD("reportMessage()");
+    std::shared_ptr<IGnssNavigationMessageCallback> callbackCopy;
+    {
+        std::unique_lock<std::mutex> lock(mMutex);
+        if (sCallback == nullptr) {
+            ALOGE("%s: GnssNavigationMessageInterface::sCallback is null.", __func__);
+            return;
+        }
+        callbackCopy = sCallback;
+    }
+    callbackCopy->gnssNavigationMessageCb(message);
+}
+
+}  // namespace aidl::android::hardware::gnss
diff --git a/gnss/aidl/default/GnssNavigationMessageInterface.h b/gnss/aidl/default/GnssNavigationMessageInterface.h
new file mode 100644
index 0000000..600b23a
--- /dev/null
+++ b/gnss/aidl/default/GnssNavigationMessageInterface.h
@@ -0,0 +1,48 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include <aidl/android/hardware/gnss/BnGnssNavigationMessageInterface.h>
+#include <atomic>
+#include <thread>
+
+namespace aidl::android::hardware::gnss {
+
+struct GnssNavigationMessageInterface : public BnGnssNavigationMessageInterface {
+  public:
+    GnssNavigationMessageInterface();
+    ~GnssNavigationMessageInterface();
+    ndk::ScopedAStatus setCallback(
+            const std::shared_ptr<IGnssNavigationMessageCallback>& callback) override;
+    ndk::ScopedAStatus close() override;
+
+  private:
+    void start();
+    void stop();
+    void reportMessage(const IGnssNavigationMessageCallback::GnssNavigationMessage& message);
+
+    std::atomic<long> mMinIntervalMillis;
+    std::atomic<bool> mIsActive;
+    std::thread mThread;
+
+    // Guarded by mMutex
+    static std::shared_ptr<IGnssNavigationMessageCallback> sCallback;
+    // Synchronization lock for sCallback
+    mutable std::mutex mMutex;
+};
+
+}  // namespace aidl::android::hardware::gnss
diff --git a/gnss/aidl/vts/Android.bp b/gnss/aidl/vts/Android.bp
index 8582b62..4d81519 100644
--- a/gnss/aidl/vts/Android.bp
+++ b/gnss/aidl/vts/Android.bp
@@ -34,6 +34,7 @@
         "GnssCallbackAidl.cpp",
         "GnssGeofenceCallback.cpp",
         "GnssMeasurementCallbackAidl.cpp",
+        "GnssNavigationMessageCallback.cpp",
         "GnssPowerIndicationCallback.cpp",
         "VtsHalGnssTargetTest.cpp",
     ],
diff --git a/gnss/aidl/vts/GnssNavigationMessageCallback.cpp b/gnss/aidl/vts/GnssNavigationMessageCallback.cpp
new file mode 100644
index 0000000..cf4a6eb
--- /dev/null
+++ b/gnss/aidl/vts/GnssNavigationMessageCallback.cpp
@@ -0,0 +1,28 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#define LOG_TAG "GnssNavMsgCallback"
+
+#include "GnssNavigationMessageCallback.h"
+#include <log/log.h>
+
+android::binder::Status GnssNavigationMessageCallback::gnssNavigationMessageCb(
+        const android::hardware::gnss::IGnssNavigationMessageCallback::GnssNavigationMessage& msg) {
+    ALOGD("gnssNavigationMessageCb. svid=%d, type=%d, status=%d, msgId=%d, subMsgId=%d, "
+          "data.size=%d",
+          msg.svid, (int)msg.type, (int)msg.status, msg.messageId, msg.submessageId,
+          (int)msg.data.size());
+    return android::binder::Status::ok();
+}
diff --git a/gnss/aidl/vts/GnssNavigationMessageCallback.h b/gnss/aidl/vts/GnssNavigationMessageCallback.h
new file mode 100644
index 0000000..55114ca
--- /dev/null
+++ b/gnss/aidl/vts/GnssNavigationMessageCallback.h
@@ -0,0 +1,31 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include <android/hardware/gnss/BnGnssNavigationMessageCallback.h>
+
+/** Implementation for IGnssNavigationMessageCallback. */
+class GnssNavigationMessageCallback
+    : public android::hardware::gnss::BnGnssNavigationMessageCallback {
+  public:
+    GnssNavigationMessageCallback() {}
+    ~GnssNavigationMessageCallback() {}
+
+    android::binder::Status gnssNavigationMessageCb(
+            const android::hardware::gnss::IGnssNavigationMessageCallback::GnssNavigationMessage&
+                    message) override;
+};
diff --git a/gnss/aidl/vts/gnss_hal_test_cases.cpp b/gnss/aidl/vts/gnss_hal_test_cases.cpp
index 09f9412..830922c 100644
--- a/gnss/aidl/vts/gnss_hal_test_cases.cpp
+++ b/gnss/aidl/vts/gnss_hal_test_cases.cpp
@@ -25,6 +25,7 @@
 #include "GnssBatchingCallback.h"
 #include "GnssGeofenceCallback.h"
 #include "GnssMeasurementCallbackAidl.h"
+#include "GnssNavigationMessageCallback.h"
 #include "GnssPowerIndicationCallback.h"
 #include "gnss_hal_test.h"
 
@@ -43,6 +44,7 @@
 using android::hardware::gnss::IGnssGeofenceCallback;
 using android::hardware::gnss::IGnssMeasurementCallback;
 using android::hardware::gnss::IGnssMeasurementInterface;
+using android::hardware::gnss::IGnssNavigationMessageInterface;
 using android::hardware::gnss::IGnssPowerIndication;
 using android::hardware::gnss::IGnssPsds;
 using android::hardware::gnss::PsdsType;
@@ -779,4 +781,15 @@
         status = iGnssGeofence->setCallback(gnssGeofenceCallback);
         ASSERT_TRUE(status.isOk());
     }
+
+    sp<IGnssNavigationMessageInterface> iGnssNavMsgIface;
+    status = aidl_gnss_hal_->getExtensionGnssNavigationMessage(&iGnssNavMsgIface);
+    if (status.isOk() && iGnssNavMsgIface != nullptr) {
+        auto gnssNavMsgCallback = sp<GnssNavigationMessageCallback>::make();
+        status = iGnssNavMsgIface->setCallback(gnssNavMsgCallback);
+        ASSERT_TRUE(status.isOk());
+
+        status = iGnssNavMsgIface->close();
+        ASSERT_TRUE(status.isOk());
+    }
 }