How is GPS data typically sent over CAN bus?
I'm looking to simulate sending and for receiving GPS data (using a Linux-running embedded device with CAN interface), to work side-by-side with "real" devices on CAN bus. I've had trouble finding good material with Google, thanks to the name of the CAN bus and many standards being closed, and many apparently related product pages not having downloadable technical documentation.
I'm after the real, relevant protocols that are used in real devices and vehicles, and documented in a standard or in devices' official technical documentation. Or just key words and phrases for further research would be cool too, if question is otherwise too broad.