Global Navigation Satellite System (GNSS) is used to provide position based on satellite constellation. The GNSS Software defined radio (SDR) is a software approach which is more flexible than Hardware receivers. In GNSS SDR, most of the RF frontends are interfaced with a host-Personal Computer (PC). The host-PC based GNSS-SDR systems suffer from computational complexity and latency between IQ samples of GNSS signals. There are several RF front ends available to capture the real time signals. Among all these, USRP RF frontends are flexible for the prototype development. Earlier the host-PC was interfaced with the USRP device for the SDR implementation. In this work the, USRP N210 is interfaced with Zynq SoC device for GNSS SDR applications. This approach will introduce parallelism, which in turn leads to reduction in latency between IQ samples. A custom Ethernet driver to interface the USRP N210 with Zynq SoC device is proposed. The experimental results showcase that the proposed SoC based approach is suitable for GNSS-SDR prototype