diff --git a/docs/en/advanced/pps_time_sync.md b/docs/en/advanced/pps_time_sync.md
index b48ee5713c..9fe17a991c 100644
--- a/docs/en/advanced/pps_time_sync.md
+++ b/docs/en/advanced/pps_time_sync.md
@@ -57,6 +57,17 @@ param set PWM_MAIN_FUNC10 2064
 param set PPS_CAP_ENABLE 1
 ```
 
+#### Multi-GPS Setups
+
+If you have multiple GPS receivers, set `PPS_CAP_GPS_ID` to the device ID of the GPS receiver that emits the PPS signal.
+When set to `0` (default), the driver uses the first available GPS instance.
+
+You can find the device ID by running:
+
+```sh
+listener sensor_gps
+```
+
 ### Wiring
 
 The wiring configuration depends on your specific flight controller.
@@ -129,5 +140,5 @@ See also:
 The PPS signal provides much higher temporal precision than the transmitted time data, which has latency and jitter from serial communication.
 
 ::: warning
-If the PPS driver does not sending any data for 5 seconds (despite having `PPS_CAP_ENABLE` set to 1), the `SENS_GPS0_DELAY` will be used instead for estimating the latency.
+If the PPS driver does not send any data for 5 seconds (despite having `PPS_CAP_ENABLE` set to 1), the corresponding `SENS_GPS*_DELAY` parameter will be used instead for estimating the latency.
 :::
diff --git a/src/drivers/pps_capture/PPSCapture.cpp b/src/drivers/pps_capture/PPSCapture.cpp
index 49923baa33..9460fe263e 100644
--- a/src/drivers/pps_capture/PPSCapture.cpp
+++ b/src/drivers/pps_capture/PPSCapture.cpp
@@ -48,6 +48,7 @@
 ModuleBase::Descriptor PPSCapture::desc{task_spawn, custom_command, print_usage};
 
 PPSCapture::PPSCapture() :
+	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
 {
 	_pps_capture_pub.advertise();
@@ -117,9 +118,16 @@ void PPSCapture::Run()
 
 	sensor_gps_s sensor_gps;
 
-	if (_sensor_gps_sub.update(&sensor_gps)) {
-		_last_gps_utc_timestamp = sensor_gps.time_utc_usec;
-		_last_gps_timestamp = sensor_gps.timestamp;
+	const uint32_t gps_device_id = static_cast<uint32_t>(_param_pps_cap_gps_id.get());
+
+	for (auto &sub : _sensor_gps_subs) {
+		if (sub.update(&sensor_gps)) {
+			if (gps_device_id == 0 || sensor_gps.device_id == gps_device_id) {
+				_last_gps_utc_timestamp = sensor_gps.time_utc_usec;
+				_last_gps_timestamp = sensor_gps.timestamp;
+				break;
+			}
+		}
 	}
 
 	pps_capture_s pps_capture;
diff --git a/src/drivers/pps_capture/PPSCapture.hpp b/src/drivers/pps_capture/PPSCapture.hpp
index 075e198b7e..d598efb0a9 100644
--- a/src/drivers/pps_capture/PPSCapture.hpp
+++ b/src/drivers/pps_capture/PPSCapture.hpp
@@ -36,15 +36,17 @@
 #include <drivers/drv_hrt.h>
 #include <px4_arch/micro_hal.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/Publication.hpp>
 #include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionMultiArray.hpp>
 #include <uORB/topics/pps_capture.h>
 #include <uORB/topics/sensor_gps.h>
 
 using namespace time_literals;
 
-class PPSCapture : public ModuleBase, public px4::ScheduledWorkItem
+class PPSCapture : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
 	static Descriptor desc;
@@ -71,16 +73,23 @@ public:
 private:
 	void Run() override;
 
+	static constexpr int GPS_MAX_RECEIVERS = 2;
+
 	int _channel{-1};
 	uint32_t _pps_capture_gpio{0};
-	uORB::Publication<pps_capture_s>	_pps_capture_pub{ORB_ID(pps_capture)};
-	uORB::Subscription								_sensor_gps_sub{ORB_ID(sensor_gps)};
-	orb_advert_t											_mavlink_log_pub{nullptr};
 
-	hrt_abstime _hrt_timestamp{0};
+	uORB::Publication<pps_capture_s> _pps_capture_pub{ORB_ID(pps_capture)};
+	uORB::SubscriptionMultiArray<sensor_gps_s, GPS_MAX_RECEIVERS> _sensor_gps_subs{ORB_ID::sensor_gps};
+	orb_advert_t _mavlink_log_pub{nullptr};
+
+	hrt_abstime	_hrt_timestamp{0};
 
 	hrt_abstime	_last_gps_timestamp{0};
-	uint64_t		_last_gps_utc_timestamp{0};
-	uint8_t			_pps_rate_exceeded_counter{0};
-	px4::atomic<bool>			_pps_rate_failure{false};
+	uint64_t _last_gps_utc_timestamp{0};
+	uint8_t _pps_rate_exceeded_counter{0};
+	px4::atomic<bool> _pps_rate_failure{false};
+
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::PPS_CAP_GPS_ID>) _param_pps_cap_gps_id
+	)
 };
diff --git a/src/drivers/pps_capture/pps_capture_params.c b/src/drivers/pps_capture/pps_capture_params.c
index 6f5bdaac64..a8f333504d 100644
--- a/src/drivers/pps_capture/pps_capture_params.c
+++ b/src/drivers/pps_capture/pps_capture_params.c
@@ -41,3 +41,19 @@
  * @reboot_required true
  */
 PARAM_DEFINE_INT32(PPS_CAP_ENABLE, 0);
+
+/**
+ * PPS capture GPS receiver device ID
+ *
+ * Device ID of the GPS receiver that emits the PPS signal captured on the
+ * configured PWM input pin. When set to 0 (default), the first available
+ * GPS instance is used.
+ *
+ * The device ID can be obtained from the sensor_gps publication
+ * (e.g. via listener sensor_gps).
+ *
+ * @group GPS
+ * @min 0
+ * @reboot_required true
+ */
+PARAM_DEFINE_INT32(PPS_CAP_GPS_ID, 0);