diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h
index db21a6b3f1..afaa6e65e8 100644
--- a/src/modules/ekf2/EKF/ekf.h
+++ b/src/modules/ekf2/EKF/ekf.h
@@ -1155,6 +1155,8 @@ private:
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 	HeightBiasEstimator _ev_hgt_b_est{HeightSensor::EV, _height_sensor_ref};
 	PositionBiasEstimator _ev_pos_b_est{static_cast<uint8_t>(PositionSensor::EV), _position_sensor_ref};
+	AlphaFilter<AxisAnglef> _ev_q_error_filt{0.001f};
+	bool _ev_q_error_init{false};
 #endif // CONFIG_EKF2_EXTERNAL_VISION
 
 	// Resets the main Nav EKf yaw to the estimator from the EKF-GSF yaw estimator
diff --git a/src/modules/ekf2/EKF/ev_pos_control.cpp b/src/modules/ekf2/EKF/ev_pos_control.cpp
index fe2513f319..6a95696870 100644
--- a/src/modules/ekf2/EKF/ev_pos_control.cpp
+++ b/src/modules/ekf2/EKF/ev_pos_control.cpp
@@ -95,8 +95,16 @@ void Ekf::controlEvPosFusion(const extVisionSample &ev_sample, const bool common
 
 		} else {
 			// rotate EV to the EKF reference frame
-			const Quatf q_error((_state.quat_nominal * ev_sample.quat.inversed()).normalized());
-			const Dcmf R_ev_to_ekf = Dcmf(q_error);
+			const AxisAnglef q_error((_state.quat_nominal * ev_sample.quat.inversed()).normalized());
+			if (_ev_q_error_init) {
+				_ev_q_error_filt.update(q_error);
+
+			} else {
+				_ev_q_error_filt.reset(q_error);
+				_ev_q_error_init = true;
+			}
+
+			const Dcmf R_ev_to_ekf = Dcmf(_ev_q_error_filt.getState());
 
 			pos = R_ev_to_ekf * ev_sample.pos - pos_offset_earth;
 			pos_cov = R_ev_to_ekf * matrix::diag(ev_sample.position_var) * R_ev_to_ekf.transpose();