diff --git a/Assets/Test.unity b/Assets/Test.unity
deleted file mode 100644
index fb2b8ef6..00000000
--- a/Assets/Test.unity
+++ /dev/null
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diff --git a/Assets/UnitySensors/Runtime/Prefabs/GNSS/GeoCoordinateSystem.prefab b/Assets/UnitySensors/Runtime/Prefabs/GNSS/GeoCoordinateSystem.prefab
new file mode 100644
index 00000000..ac987642
--- /dev/null
+++ b/Assets/UnitySensors/Runtime/Prefabs/GNSS/GeoCoordinateSystem.prefab
@@ -0,0 +1,50 @@
+%YAML 1.1
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+    longitude: 139.81070039691542
+    altitude: 3
diff --git a/Assets/Test.unity.meta b/Assets/UnitySensors/Runtime/Prefabs/GNSS/GeoCoordinateSystem.prefab.meta
similarity index 63%
rename from Assets/Test.unity.meta
rename to Assets/UnitySensors/Runtime/Prefabs/GNSS/GeoCoordinateSystem.prefab.meta
index 5b3e62c0..78a6cac6 100644
--- a/Assets/Test.unity.meta
+++ b/Assets/UnitySensors/Runtime/Prefabs/GNSS/GeoCoordinateSystem.prefab.meta
@@ -1,6 +1,6 @@
 fileFormatVersion: 2
-guid: f3640a4ff6ae021468196ebfd8011f58
-DefaultImporter:
+guid: bfbdcabf0c3de544d92e2b824ec5a3a6
+PrefabImporter:
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diff --git a/Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GNSSSensor.cs b/Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GNSSSensor.cs
index be21ad84..b9f366b6 100644
--- a/Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GNSSSensor.cs
+++ b/Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GNSSSensor.cs
@@ -10,7 +10,7 @@ namespace UnitySensors.Sensor.GNSS
     public class GNSSSensor : UnitySensor
     {
         [SerializeField]
-        private GeoCoordinate _baseCoordinate = new GeoCoordinate(35.71020206575301, 139.81070039691542, 3.0f);
+        private GeoCoordinateSystem _coordinateSystem;
 
         private Transform _transform;
         private GeoCoordinateConverter _gcc;
@@ -22,16 +22,11 @@ public class GNSSSensor : UnitySensor
         protected override void Init()
         {
             _transform = this.transform;
-            _gcc = new GeoCoordinateConverter(_baseCoordinate.latitude, _baseCoordinate.longitude);
-            _coordinate = new GeoCoordinate(_baseCoordinate.latitude, _baseCoordinate.longitude, _baseCoordinate.altitude);
         }
 
         protected override void UpdateSensor()
         {
-            Vector3 position = _transform.position;
-            (_coordinate.latitude, _coordinate.longitude) = _gcc.XZ2LatLon(position.x, position.z);
-            _coordinate.altitude = _baseCoordinate.altitude + position.y;
-            
+            _coordinate = _coordinateSystem.GetCoordinate(_transform.position);
             if (onSensorUpdated != null)
                 onSensorUpdated.Invoke();
         }
diff --git a/Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GeoCoordinateSystem.cs b/Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GeoCoordinateSystem.cs
new file mode 100644
index 00000000..8484b257
--- /dev/null
+++ b/Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GeoCoordinateSystem.cs
@@ -0,0 +1,31 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+using UnitySensors.Utils.GeoCoordinate;
+
+namespace UnitySensors.Sensor.GNSS
+{
+    public class GeoCoordinateSystem : MonoBehaviour
+    {
+        [SerializeField]
+        private GeoCoordinate _coordinate = new GeoCoordinate(35.71020206575301, 139.81070039691542, 3.0f);
+
+        private Transform _transform;
+        private GeoCoordinateConverter _converter;
+
+        private void Awake()
+        {
+            _transform = this.transform;
+            _converter = new GeoCoordinateConverter(_coordinate.latitude, _coordinate.longitude);
+        }
+
+        public GeoCoordinate GetCoordinate(Vector3 worldPosition)
+        {
+            Vector3 localPosition = _transform.InverseTransformPoint(worldPosition);
+            double latitude, longitude;
+            (latitude, longitude) = _converter.XZ2LatLon(localPosition.x, localPosition.z);
+            return new GeoCoordinate(latitude, longitude, localPosition.y + _coordinate.altitude);
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GeoCoordinateSystem.cs.meta b/Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GeoCoordinateSystem.cs.meta
new file mode 100644
index 00000000..867353f6
--- /dev/null
+++ b/Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GeoCoordinateSystem.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/UnitySensors/Runtime/Scripts/Sensors/TF/TF.cs b/Assets/UnitySensors/Runtime/Scripts/Sensors/TF/TF.cs
index 3b5d2a13..2f2846fe 100644
--- a/Assets/UnitySensors/Runtime/Scripts/Sensors/TF/TF.cs
+++ b/Assets/UnitySensors/Runtime/Scripts/Sensors/TF/TF.cs
@@ -55,6 +55,15 @@ public TFData[] GetTFData(string frame_id_parent, Matrix4x4 worldToLocalMatrix,
             tfData_self.frame_id_parent = frame_id_parent;
             tfData_self.frame_id_child = _frame_id;
             tfData_self.position = (Vector3)(worldToLocalMatrix * new Vector4(_transform.position.x, _transform.position.y, _transform.position.z, 1.0f));
+            Vector3 localScale = _transform.localScale;
+            Vector3 lossyScale = _transform.lossyScale;
+            Vector3 scaleVector = new Vector3()
+            {
+                x = localScale.x != 0 ? lossyScale.x / localScale.x : 0,
+                y = localScale.y != 0 ? lossyScale.y / localScale.y : 0,
+                z = localScale.z != 0 ? lossyScale.z / localScale.z : 0
+            };
+            tfData_self.position.Scale(scaleVector);
             tfData_self.rotation = worldToLocalQuaternion * _transform.rotation;
             tfData.Add(tfData_self);
 
diff --git a/Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinates.cs b/Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinate.cs
similarity index 91%
rename from Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinates.cs
rename to Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinate.cs
index ceba08e2..40afbcfa 100644
--- a/Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinates.cs
+++ b/Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinate.cs
@@ -1,7 +1,7 @@
 namespace UnitySensors.Utils.GeoCoordinate
 {
     [System.Serializable]
-    public class GeoCoordinate
+    public struct GeoCoordinate
     {
         public GeoCoordinate(double lat, double lon, double alt)
         {
diff --git a/Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinates.cs.meta b/Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinate.cs.meta
similarity index 100%
rename from Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinates.cs.meta
rename to Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinate.cs.meta
diff --git a/Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinatesConverter.cs b/Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinateConverter.cs
similarity index 100%
rename from Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinatesConverter.cs
rename to Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinateConverter.cs
diff --git a/Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinatesConverter.cs.meta b/Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinateConverter.cs.meta
similarity index 100%
rename from Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinatesConverter.cs.meta
rename to Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinateConverter.cs.meta
diff --git a/Assets/UnitySensors/Samples/GNSS/Demo_GNSS.unity b/Assets/UnitySensors/Samples/GNSS/Demo_GNSS.unity
index cb092eda..a27b26fd 100644
--- a/Assets/UnitySensors/Samples/GNSS/Demo_GNSS.unity
+++ b/Assets/UnitySensors/Samples/GNSS/Demo_GNSS.unity
@@ -123,6 +123,18 @@ NavMeshSettings:
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 PrefabInstance:
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       propertyPath: m_Name
       value: GNSS
       objectReference: {fileID: 0}
+    - target: {fileID: 6460962621012238590, guid: a0db7cd58a019da4d84328d3f8cb748a,
+        type: 3}
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+      value: 
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     - target: {fileID: 6460962621012238591, guid: a0db7cd58a019da4d84328d3f8cb748a,
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diff --git a/Assets/UnitySensors/package.json b/Assets/UnitySensors/package.json
index 4ba8775f..9a8e4e64 100644
--- a/Assets/UnitySensors/package.json
+++ b/Assets/UnitySensors/package.json
@@ -1,6 +1,6 @@
 {
     "name": "com.frj.unity-sensors",
-    "version": "2.0.3",
+    "version": "2.0.4",
     "displayName": "UnitySensors",
     "description": "",
     "unity": "2021.3",
diff --git a/Assets/UnitySensorsROS/Runtime/Prefabs/GNSS/GNSS_ros.prefab b/Assets/UnitySensorsROS/Runtime/Prefabs/GNSS/GNSS_ros.prefab
index b4f59d85..67a6d7cc 100644
--- a/Assets/UnitySensorsROS/Runtime/Prefabs/GNSS/GNSS_ros.prefab
+++ b/Assets/UnitySensorsROS/Runtime/Prefabs/GNSS/GNSS_ros.prefab
@@ -10,7 +10,7 @@ GameObject:
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   - component: {fileID: 3192925013080293983}
   - component: {fileID: 3192925013080293982}
-  - component: {fileID: 3192925013080293981}
+  - component: {fileID: 3192925012673096858}
   m_Layer: 0
   m_Name: GNSS_ros
   m_TagString: Untagged
@@ -46,15 +46,12 @@ MonoBehaviour:
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   m_EditorClassIdentifier: 
   _frequency: 10
-  _baseCoordinate:
-    latitude: 35.71020206575301
-    longitude: 139.81070039691542
-    altitude: 3
+  _coordinateSystem: {fileID: 0}
   _coordinate:
     latitude: 0
     longitude: 0
     altitude: 0
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-  m_Script: {fileID: 11500000, guid: 397c445553a6f3a40ac4d6892894ff7f, type: 3}
+  m_Script: {fileID: 11500000, guid: c11ec5602b9e12544b78d1d2a4bdd5c6, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
   _frequency: 10
-  _topicName: /navsat/fix
+  _topicName: navsat
   _serializer:
     _header:
-      _frame_id: /gnss_link
+      _frame_id: map
     _status: 1
     _service: 0
diff --git a/Assets/UnitySensorsROS/Samples/GNSS/Demo_GNSS_ros.unity b/Assets/UnitySensorsROS/Samples/GNSS/Demo_GNSS_ros.unity
index f26b1f9a..4c17a0cf 100644
--- a/Assets/UnitySensorsROS/Samples/GNSS/Demo_GNSS_ros.unity
+++ b/Assets/UnitySensorsROS/Samples/GNSS/Demo_GNSS_ros.unity
@@ -123,6 +123,87 @@ NavMeshSettings:
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       propertyPath: m_Name
       value: GNSS_ros
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diff --git a/Assets/UnitySensorsROS/package.json b/Assets/UnitySensorsROS/package.json
index e56410d5..a9e6c7f4 100644
--- a/Assets/UnitySensorsROS/package.json
+++ b/Assets/UnitySensorsROS/package.json
@@ -1,11 +1,11 @@
 {
     "name": "com.frj.unity-sensors-ros",
-    "version": "2.0.3",
+    "version": "2.0.4",
     "displayName": "UnitySensorsROS",
     "description": "",
     "unity": "2021.3",
     "dependencies": {
-        "com.frj.unity-sensors": "2.0.3",
+        "com.frj.unity-sensors": "2.0.4",
         "com.unity.robotics.ros-tcp-connector": "0.7.0-preview"
     },
     "keywords": [
diff --git a/README.md b/README.md
index 6713cee0..cce04b8c 100644
--- a/README.md
+++ b/README.md
@@ -30,8 +30,8 @@ There are several Prefab and Scene files available for testing each sensor.
 2. In the Package Manager window, find and click the + button in the upper lefthand corner of the window. Select `Add package from git URL....`
 
 3. Enter the git URL for the desired package. 
-    1. For the UnitySensors, enter `https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensors#v2.0.3`.
-    2. For the UnitySensorsROS, enter `https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensorsROS#v2.0.3`.
+    1. For the UnitySensors, enter `https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensors#v2.0.4`.
+    2. For the UnitySensorsROS, enter `https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensorsROS#v2.0.4`.
     __Note: UnitySensorsROS does not contain UnitySensors.__
 4. Click `Add`.