diff --git a/src/decoders/index.ts b/src/decoders/index.ts
index 1f55172..9f6d651 100644
--- a/src/decoders/index.ts
+++ b/src/decoders/index.ts
@@ -1,5 +1,7 @@
+import CentroidPosition from './motion/centroid-position';
 import RTTrPHeader from './rttrp';
 
 export const Decoders = {
   RTTrPHeader,
+  CentroidPosition,
 };
diff --git a/src/decoders/motion/centroid-position.ts b/src/decoders/motion/centroid-position.ts
new file mode 100644
index 0000000..0f741b0
--- /dev/null
+++ b/src/decoders/motion/centroid-position.ts
@@ -0,0 +1,31 @@
+import { CentroidPosition } from '../../models';
+
+export default (bytes: Uint8Array, isLittleEndian: boolean = false): CentroidPosition => {
+  if (bytes.length !== 29) {
+    throw new Error('Centroid Position module must be 29 bytes');
+  }
+
+  const view = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength);
+
+  const type = view.getUint8(0);
+  if (type !== 0x02) {
+    throw new Error('Centroid Position module must have a type of 0x02');
+  }
+
+  const size = view.getUint16(1, isLittleEndian);
+  if (size !== 29) {
+    throw new Error('Centroid Position module must be 29 bytes');
+  }
+  const latency = view.getUint16(3, isLittleEndian);
+  const x = view.getFloat64(5, isLittleEndian);
+  const y = view.getFloat64(13, isLittleEndian);
+  const z = view.getFloat64(21, isLittleEndian);
+  return {
+    type,
+    size,
+    latency,
+    x,
+    y,
+    z,
+  };
+};
diff --git a/src/models.ts b/src/models.ts
index 67745f7..d6b2a3b 100644
--- a/src/models.ts
+++ b/src/models.ts
@@ -8,4 +8,14 @@ export type RTTrPHeader = {
   context: number;
   subModuleCount: number;
 };
+
+export type CentroidPosition = {
+  type: number;
+  size: number;
+  latency: number;
+  x: number;
+  y: number;
+  z: number;
+};
+
 };
diff --git a/tests/decode.test.js b/tests/decode.test.js
index fb57a0e..0d3beb3 100644
--- a/tests/decode.test.js
+++ b/tests/decode.test.js
@@ -19,6 +19,22 @@ const goodTests = [
     },
     decoder: Decoders.RTTrPHeader,
   },
+  {
+    description: 'Centroid Position',
+    bytes: new Uint8Array([
+      0x02, 0x00, 0x1d, 0x00, 0x10, 0x3f, 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00,
+      0x00, 0x00, 0x40, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    ]),
+    expected: {
+      type: 0x02,
+      size: 0x1d,
+      latency: 16,
+      x: 1.0,
+      y: 2.0,
+      z: 3.0,
+    },
+    decoder: Decoders.CentroidPosition,
+  },
 ];
 
 describe('RTTrP Bytes Decoding', () => {