diff --git a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
index 76be887e84bb..90e86aa6880e 100644
--- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
@@ -33,6 +33,10 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 		then
 			sensor_mag_sim start
 		fi
+		if param compare -s SENS_EN_AGPSIM 1
+		then
+			sensor_agp_sim start
+		fi
 
 	else
 		echo "ERROR [init] simulator_sih failed to start"
@@ -153,6 +157,10 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
 	then
 		sensor_airspeed_sim start
 	fi
+	if param compare -s SENS_EN_AGPSIM 1
+	then
+		sensor_agp_sim start
+	fi
 
 elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
 
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 28804361d1ed..3352cddad659 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -386,6 +386,7 @@ else
 			sensor_baro_sim start
 			sensor_mag_sim start
 			sensor_gps_sim start
+			sensor_agp_sim start
 		fi
 
 	else
diff --git a/src/modules/replay/ReplayEkf2.cpp b/src/modules/replay/ReplayEkf2.cpp
index 1add36489d82..89f4874ce545 100644
--- a/src/modules/replay/ReplayEkf2.cpp
+++ b/src/modules/replay/ReplayEkf2.cpp
@@ -108,6 +108,15 @@ ReplayEkf2::onSubscriptionAdded(Subscription &sub, uint16_t msg_id)
 
 	} else if (sub.orb_meta == ORB_ID(aux_global_position)) {
 		_aux_global_position_msg_id = msg_id;
+
+	} else if (sub.orb_meta == ORB_ID(vehicle_local_position_groundtruth)) {
+		_vehicle_local_position_groundtruth_msg_id = msg_id;
+
+	} else if (sub.orb_meta == ORB_ID(vehicle_attitude_groundtruth)) {
+		_vehicle_attitude_groundtruth_msg_id = msg_id;
+
+	} else if (sub.orb_meta == ORB_ID(vehicle_global_position_groundtruth)) {
+		_vehicle_global_position_groundtruth_msg_id = msg_id;
 	}
 
 	// the main loop should only handle publication of the following topics, the sensor topics are
@@ -135,6 +144,9 @@ ReplayEkf2::publishEkf2Topics(const ekf2_timestamps_s &ekf2_timestamps, std::ifs
 	handle_sensor_publication(ekf2_timestamps.vehicle_magnetometer_timestamp_rel, _vehicle_magnetometer_msg_id);
 	handle_sensor_publication(ekf2_timestamps.visual_odometry_timestamp_rel, _vehicle_visual_odometry_msg_id);
 	handle_sensor_publication(0, _aux_global_position_msg_id);
+	handle_sensor_publication(0, _vehicle_local_position_groundtruth_msg_id);
+	handle_sensor_publication(0, _vehicle_global_position_groundtruth_msg_id);
+	handle_sensor_publication(0, _vehicle_attitude_groundtruth_msg_id);
 
 	// sensor_combined: publish last because ekf2 is polling on this
 	if (!findTimestampAndPublish(ekf2_timestamps.timestamp / 100, _sensor_combined_msg_id, replay_file)) {
diff --git a/src/modules/replay/ReplayEkf2.hpp b/src/modules/replay/ReplayEkf2.hpp
index bb7f8d135939..13cb3d8be5d5 100644
--- a/src/modules/replay/ReplayEkf2.hpp
+++ b/src/modules/replay/ReplayEkf2.hpp
@@ -89,6 +89,9 @@ class ReplayEkf2 : public Replay
 	uint16_t _vehicle_magnetometer_msg_id = msg_id_invalid;
 	uint16_t _vehicle_visual_odometry_msg_id = msg_id_invalid;
 	uint16_t _aux_global_position_msg_id = msg_id_invalid;
+	uint16_t _vehicle_local_position_groundtruth_msg_id = msg_id_invalid;
+	uint16_t _vehicle_global_position_groundtruth_msg_id = msg_id_invalid;
+	uint16_t _vehicle_attitude_groundtruth_msg_id = msg_id_invalid;
 };
 
 } //namespace px4
diff --git a/src/modules/simulation/sensor_agp_sim/CMakeLists.txt b/src/modules/simulation/sensor_agp_sim/CMakeLists.txt
new file mode 100644
index 000000000000..e1390068eb2c
--- /dev/null
+++ b/src/modules/simulation/sensor_agp_sim/CMakeLists.txt
@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__simulation__sensor_agp_sim
+	MAIN sensor_agp_sim
+	COMPILE_FLAGS
+	SRCS
+		SensorAgpSim.cpp
+		SensorAgpSim.hpp
+	DEPENDS
+		px4_work_queue
+	)
diff --git a/src/modules/simulation/sensor_agp_sim/Kconfig b/src/modules/simulation/sensor_agp_sim/Kconfig
new file mode 100644
index 000000000000..43c6885246ec
--- /dev/null
+++ b/src/modules/simulation/sensor_agp_sim/Kconfig
@@ -0,0 +1,5 @@
+menuconfig MODULES_SIMULATION_SENSOR_AGP_SIM
+	bool "sensor_agp_sim"
+	default n
+	---help---
+		Enable support for sensor_agp_sim
diff --git a/src/modules/simulation/sensor_agp_sim/SensorAgpSim.cpp b/src/modules/simulation/sensor_agp_sim/SensorAgpSim.cpp
new file mode 100644
index 000000000000..f9b4a1bff977
--- /dev/null
+++ b/src/modules/simulation/sensor_agp_sim/SensorAgpSim.cpp
@@ -0,0 +1,202 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "SensorAgpSim.hpp"
+
+#include <drivers/drv_sensor.h>
+#include <lib/drivers/device/Device.hpp>
+#include <lib/geo/geo.h>
+
+using namespace matrix;
+
+SensorAgpSim::SensorAgpSim() :
+	ModuleParams(nullptr),
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
+{
+}
+
+SensorAgpSim::~SensorAgpSim()
+{
+	perf_free(_loop_perf);
+}
+
+bool SensorAgpSim::init()
+{
+	ScheduleOnInterval(500_ms); // 2 Hz
+	return true;
+}
+
+float SensorAgpSim::generate_wgn()
+{
+	// generate white Gaussian noise sample with std=1
+	// from BlockRandGauss.hpp
+	static float V1, V2, S;
+	static bool phase = true;
+	float X;
+
+	if (phase) {
+		do {
+			float U1 = (float)rand() / (float)RAND_MAX;
+			float U2 = (float)rand() / (float)RAND_MAX;
+			V1 = 2.0f * U1 - 1.0f;
+			V2 = 2.0f * U2 - 1.0f;
+			S = V1 * V1 + V2 * V2;
+		} while (S >= 1.0f || fabsf(S) < 1e-8f);
+
+		X = V1 * float(sqrtf(-2.0f * float(logf(S)) / S));
+
+	} else {
+		X = V2 * float(sqrtf(-2.0f * float(logf(S)) / S));
+	}
+
+	phase = !phase;
+	return X;
+}
+
+void SensorAgpSim::Run()
+{
+	if (should_exit()) {
+		ScheduleClear();
+		exit_and_cleanup();
+		return;
+	}
+
+	perf_begin(_loop_perf);
+
+	// Check if parameters have changed
+	if (_parameter_update_sub.updated()) {
+		// clear update
+		parameter_update_s param_update;
+		_parameter_update_sub.copy(&param_update);
+
+		updateParams();
+	}
+
+	if (_vehicle_global_position_sub.updated()) {
+
+		vehicle_global_position_s gpos{};
+		_vehicle_global_position_sub.copy(&gpos);
+
+		const uint64_t now = gpos.timestamp;
+		const float dt = (now - _time_last_update) * 1e-6f;
+		_time_last_update = now;
+
+		if (!(_param_sim_agp_fail.get() & static_cast<int32_t>(FailureMode::Constant))) {
+			_measured_lla = LatLonAlt(gpos.lat, gpos.lon, gpos.alt_ellipsoid);
+		}
+
+		if (_param_sim_agp_fail.get() & static_cast<int32_t>(FailureMode::Drift)) {
+			_position_bias += Vector3f(1.5f, -5.f, 0.f) * dt;
+			_measured_lla += _position_bias;
+
+		} else {
+			_position_bias.zero();
+		}
+
+		double latitude = _measured_lla.latitude_deg() + math::degrees((double)generate_wgn() * 2.0 /
+				  CONSTANTS_RADIUS_OF_EARTH);
+		double longitude = _measured_lla.longitude_deg() + math::degrees((double)generate_wgn() * 2.0 /
+				   CONSTANTS_RADIUS_OF_EARTH);
+		double altitude = (double)(_measured_lla.altitude() + (generate_wgn() * 0.5f));
+
+		vehicle_global_position_s sample{};
+
+		sample.timestamp_sample = gpos.timestamp_sample;
+		sample.lat = latitude;
+		sample.lon = longitude;
+		sample.alt = altitude;
+		sample.lat_lon_valid = true;
+		sample.alt_ellipsoid = altitude;
+		sample.alt_valid = true;
+		sample.eph = 20.f;
+		sample.epv = 5.f;
+
+		sample.timestamp = hrt_absolute_time();
+		_aux_global_position_pub.publish(sample);
+	}
+
+	perf_end(_loop_perf);
+}
+
+int SensorAgpSim::task_spawn(int argc, char *argv[])
+{
+	SensorAgpSim *instance = new SensorAgpSim();
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int SensorAgpSim::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int SensorAgpSim::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("sensor_agp_sim", "system");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int sensor_agp_sim_main(int argc, char *argv[])
+{
+	return SensorAgpSim::main(argc, argv);
+}
diff --git a/src/modules/simulation/sensor_agp_sim/SensorAgpSim.hpp b/src/modules/simulation/sensor_agp_sim/SensorAgpSim.hpp
new file mode 100644
index 000000000000..535672adda6e
--- /dev/null
+++ b/src/modules/simulation/sensor_agp_sim/SensorAgpSim.hpp
@@ -0,0 +1,93 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <lib/lat_lon_alt/lat_lon_alt.hpp>
+#include <lib/perf/perf_counter.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionInterval.hpp>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/vehicle_global_position.h>
+
+using namespace time_literals;
+
+class SensorAgpSim : public ModuleBase<SensorAgpSim>, public ModuleParams, public px4::ScheduledWorkItem
+{
+public:
+	SensorAgpSim();
+	~SensorAgpSim() override;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+private:
+	enum class FailureMode : int32_t {
+		Constant = (1 << 0),
+		Drift = (1 << 1)
+	};
+
+	void Run() override;
+
+	// generate white Gaussian noise sample with std=1
+	static float generate_wgn();
+
+	LatLonAlt _measured_lla{};
+	matrix::Vector3f _position_bias{};
+
+	uint64_t _time_last_update{};
+
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+	uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position_groundtruth)};
+
+	uORB::PublicationMulti<vehicle_global_position_s> _aux_global_position_pub{ORB_ID(aux_global_position)};
+
+	perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
+
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::SIM_AGP_FAIL>) _param_sim_agp_fail
+	)
+};
diff --git a/src/modules/simulation/sensor_agp_sim/parameters.c b/src/modules/simulation/sensor_agp_sim/parameters.c
new file mode 100644
index 000000000000..e3098085c0fa
--- /dev/null
+++ b/src/modules/simulation/sensor_agp_sim/parameters.c
@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/**
+ * Simulate Aux Global Position (AGP)
+ *
+ * @reboot_required true
+ * @min 0
+ * @max 1
+ * @group Sensors
+ * @value 0 Disabled
+ * @value 1 Enabled
+  */
+PARAM_DEFINE_INT32(SENS_EN_AGPSIM, 0);
+
+/**
+ * AGP failure mode
+ *
+ * @group Simulator
+ * @min 0
+ * @max 3
+ * @bit 0 Constant
+ * @bit 1 Drift
+ */
+PARAM_DEFINE_INT32(SIM_AGP_FAIL, 0);