diff --git a/gnss/aidl/default/GnssMeasurementInterface.cpp b/gnss/aidl/default/GnssMeasurementInterface.cpp
index aab9e03..f7e4d4a 100644
--- a/gnss/aidl/default/GnssMeasurementInterface.cpp
+++ b/gnss/aidl/default/GnssMeasurementInterface.cpp
@@ -35,7 +35,9 @@
 std::shared_ptr<IGnssMeasurementCallback> GnssMeasurementInterface::sCallback = nullptr;
 
 GnssMeasurementInterface::GnssMeasurementInterface()
-    : mIntervalMs(1000), mLocationIntervalMs(1000), mFutures(std::vector<std::future<void>>()) {}
+    : mIntervalMs(1000), mLocationIntervalMs(1000) {
+    mThreads.reserve(2);
+}
 
 GnssMeasurementInterface::~GnssMeasurementInterface() {
     waitForStoppingThreads();
@@ -100,12 +102,12 @@
         ALOGD("restarting since measurement has started");
         stop();
     }
-    // Wait for stopping previous thread.
-    waitForStoppingThreads();
 
     mIsActive = true;
-    mThreadBlocker.reset();
-    mThread = std::thread([this, enableCorrVecOutputs, enableFullTracking]() {
+    mThreads.emplace_back(std::thread([this, enableCorrVecOutputs, enableFullTracking]() {
+        waitForStoppingThreads();
+        mThreadBlocker.reset();
+
         int intervalMs;
         do {
             if (!mIsActive) {
@@ -134,15 +136,22 @@
             intervalMs =
                     (mLocationEnabled) ? std::min(mLocationIntervalMs, mIntervalMs) : mIntervalMs;
         } while (mIsActive && mThreadBlocker.wait_for(std::chrono::milliseconds(intervalMs)));
-    });
+    }));
 }
 
 void GnssMeasurementInterface::stop() {
     ALOGD("stop");
     mIsActive = false;
     mThreadBlocker.notify();
-    if (mThread.joinable()) {
-        mFutures.push_back(std::async(std::launch::async, [this] { mThread.join(); }));
+    for (auto iter = mThreads.begin(); iter != mThreads.end(); ++iter) {
+        if (iter->joinable()) {
+            mFutures.push_back(std::async(std::launch::async, [this, iter] {
+                iter->join();
+                mThreads.erase(iter);
+            }));
+        } else {
+            mThreads.erase(iter);
+        }
     }
 }
 
diff --git a/gnss/aidl/default/GnssMeasurementInterface.h b/gnss/aidl/default/GnssMeasurementInterface.h
index 926a4e7..ea07c9a 100644
--- a/gnss/aidl/default/GnssMeasurementInterface.h
+++ b/gnss/aidl/default/GnssMeasurementInterface.h
@@ -52,7 +52,7 @@
     std::atomic<long> mLocationIntervalMs;
     std::atomic<bool> mIsActive;
     std::atomic<bool> mLocationEnabled;
-    std::thread mThread;
+    std::vector<std::thread> mThreads;
     std::vector<std::future<void>> mFutures;
     ::android::hardware::gnss::common::ThreadBlocker mThreadBlocker;
 
diff --git a/gnss/aidl/default/GnssNavigationMessageInterface.cpp b/gnss/aidl/default/GnssNavigationMessageInterface.cpp
index 75b9624..c262dc6 100644
--- a/gnss/aidl/default/GnssNavigationMessageInterface.cpp
+++ b/gnss/aidl/default/GnssNavigationMessageInterface.cpp
@@ -29,7 +29,9 @@
 
 std::shared_ptr<IGnssNavigationMessageCallback> GnssNavigationMessageInterface::sCallback = nullptr;
 
-GnssNavigationMessageInterface::GnssNavigationMessageInterface() : mMinIntervalMillis(1000) {}
+GnssNavigationMessageInterface::GnssNavigationMessageInterface() : mMinIntervalMillis(1000) {
+    mThreads.reserve(2);
+}
 
 GnssNavigationMessageInterface::~GnssNavigationMessageInterface() {
     waitForStoppingThreads();
@@ -61,11 +63,11 @@
         ALOGD("restarting since nav msg has started");
         stop();
     }
-    // Wait for stopping previous thread.
-    waitForStoppingThreads();
 
     mIsActive = true;
-    mThread = std::thread([this]() {
+    mThreads.emplace_back(std::thread([this]() {
+        waitForStoppingThreads();
+        mThreadBlocker.reset();
         do {
             if (!mIsActive) {
                 break;
@@ -81,15 +83,22 @@
             this->reportMessage(message);
         } while (mIsActive &&
                  mThreadBlocker.wait_for(std::chrono::milliseconds(mMinIntervalMillis)));
-    });
+    }));
 }
 
 void GnssNavigationMessageInterface::stop() {
     ALOGD("stop");
     mIsActive = false;
     mThreadBlocker.notify();
-    if (mThread.joinable()) {
-        mFutures.push_back(std::async(std::launch::async, [this] { mThread.join(); }));
+    for (auto iter = mThreads.begin(); iter != mThreads.end(); ++iter) {
+        if (iter->joinable()) {
+            mFutures.push_back(std::async(std::launch::async, [this, iter] {
+                iter->join();
+                mThreads.erase(iter);
+            }));
+        } else {
+            mThreads.erase(iter);
+        }
     }
 }
 
diff --git a/gnss/aidl/default/GnssNavigationMessageInterface.h b/gnss/aidl/default/GnssNavigationMessageInterface.h
index b335348..e9a7536 100644
--- a/gnss/aidl/default/GnssNavigationMessageInterface.h
+++ b/gnss/aidl/default/GnssNavigationMessageInterface.h
@@ -40,7 +40,7 @@
 
     std::atomic<long> mMinIntervalMillis;
     std::atomic<bool> mIsActive;
-    std::thread mThread;
+    std::vector<std::thread> mThreads;
     std::vector<std::future<void>> mFutures;
     ::android::hardware::gnss::common::ThreadBlocker mThreadBlocker;