diff --git a/src/quaternion.cpp b/src/quaternion.cpp
index 100be03..e9b04e7 100644
--- a/src/quaternion.cpp
+++ b/src/quaternion.cpp
@@ -64,10 +64,10 @@ quaternion quatFromEulerAngles(Eigen::Vector3d a)
     quatY.z = 0.0;
 
     quaternion quatZ;
-    quatX.w = std::cos(z / 2);
-    quatX.x = 0.0;
-    quatX.y = 0.0;
-    quatX.z = std::sin(z / 2);
+    quatZ.w = std::cos(z / 2);
+    quatZ.x = 0.0;
+    quatZ.y = 0.0;
+    quatZ.z = std::sin(z / 2);
 
     quaternion ret;
     ret.w = 1.0;
diff --git a/src/sensorModels/gnssSensor.cpp b/src/sensorModels/gnssSensor.cpp
index 0a6a3e1..1e48935 100644
--- a/src/sensorModels/gnssSensor.cpp
+++ b/src/sensorModels/gnssSensor.cpp
@@ -138,6 +138,15 @@ bool GnssSensor::RunTick(Eigen::Vector3d& gnssOrigin, Eigen::Vector3d& enuToTrac
         {
             actualTrackCar = eulerAnglesToRotMat(start_orientation).transpose() * trans + start_position;
         }
+
+        Eigen::Matrix3d R_body_to_world = eulerAnglesToRotMat(rot).transpose();
+        if (trackPreTransformed)
+        {
+            R_body_to_world = eulerAnglesToRotMat(start_orientation).transpose() * R_body_to_world;
+        }
+        Eigen::Vector3d gpsLeverArmWorld = R_body_to_world * this->position;
+        actualTrackCar += gpsLeverArmWorld;
+
         Eigen::Vector3d enuCar = rotMatTrackToEnu * actualTrackCar;
 
         std::default_random_engine generator(noiseSeed);