diff --git a/docs/t4_format_3d_detailed.md b/docs/t4_format_3d_detailed.md
index 74f5a16c..9b686a69 100644
--- a/docs/t4_format_3d_detailed.md
+++ b/docs/t4_format_3d_detailed.md
@@ -207,9 +207,7 @@ uuid (str): A unique ID of the object generated by the radar.
 ```text
 /sensing/camera/camera{CAMERA_ID}/image_rect_color/compressed
 /sensing/camera/camera{CAMERA_ID}/camera_info
-/sensing/gnss/{GNSS_VENDOR}/fix_velocity
 /sensing/gnss/{GNSS_VENDOR}/nav_sat_fix
-/sensing/gnss/{GNSS_VENDOR}/navpvt
 /sensing/imu/{IMU_VENDOR}/imu_raw
 /sensing/lidar/{LIDAR_POSITION}/{LIDAR_VENDOR}_packets
 /sensing/lidar/concatenated/pointcloud
@@ -219,6 +217,9 @@ uuid (str): A unique ID of the object generated by the radar.
 /tf_static
 /localization/kinematic_state
 /vehicle/status/velocity_status
+
+# optional
+Raw GNSS sensor data from vendor e.g. /sensing/gnss/ublox/navpvt, /sensing/gnss/septentrio/pvtgeodetic
 ```
 
 ## 3d detection annotation format