This article presents an innovative design for a low-profile, high-gain circularly polarized (CP) antenna using a single-layer metasurface (MTS). The proposed design incorporates an MTS layer, comprising a 4 × 4 array of hexagonal-shaped patches, printed on the top layer of the substrate. The bottom layer features a coplanar waveguide-fed slotted ground. Circular polarization and broadside radiation are achieved through the application of characteristic mode analysis (CMA). CMA is employed to simultaneously excite desired modes, aiming for wideband circular polarization and gain enhancement. Experimental results validate the effectiveness of the design, with compact dimensions of 0.67λ0 × 0.67λ0 × 0.04λ0. The measurements demonstrate an impressive impedance bandwidth of 84.3% within the 3.7–9.1 GHz. Additionally, a 3-dB axial ratio bandwidth of 18.6% is observed between 4.96 and 5.98 GHz and 3.74% between 8.38 and 8.7 GHz. The antenna exhibits excellent radiation pattern characteristics, featuring a maximum gain of 10.08 dBi at 7.1 GHz. The radiation pattern is symmetrical with broadside directionality, making the antenna well-suited for sensing applications.