diff --git a/EKF/estimator_interface.cpp b/EKF/estimator_interface.cpp
index d73869d00e..85d39927c1 100644
--- a/EKF/estimator_interface.cpp
+++ b/EKF/estimator_interface.cpp
@@ -160,6 +160,7 @@ void EstimatorInterface::setGpsData(uint64_t time_usec, struct gps_message *gps)
 
 		_gps_speed_valid = gps->vel_ned_valid;
 		_gps_speed_accuracy = gps->sacc;
+		_gps_hpos_accuracy = gps->eph;
 
 		float lpos_x = 0.0f;
 		float lpos_y = 0.0f;
diff --git a/EKF/estimator_interface.h b/EKF/estimator_interface.h
index 07920aa7ea..e907fcdcab 100644
--- a/EKF/estimator_interface.h
+++ b/EKF/estimator_interface.h
@@ -197,6 +197,7 @@ protected:
 	bool _gps_speed_valid;
 	float _gps_speed_accuracy;                  // GPS receiver reported speed accuracy (m/s)
 	struct map_projection_reference_s _pos_ref; // Contains WGS-84 position latitude and longitude (radians)
+	float _gps_hpos_accuracy = 0.0f; // GPS receiver reported 1-sigma horizontal accuracy (m)
 
 	bool _mag_healthy;              // computed by mag innovation test
 	float _yaw_test_ratio;          // yaw innovation consistency check ratio
diff --git a/EKF/vel_pos_fusion.cpp b/EKF/vel_pos_fusion.cpp
index fd54177083..6f2214442d 100644
--- a/EKF/vel_pos_fusion.cpp
+++ b/EKF/vel_pos_fusion.cpp
@@ -40,6 +40,7 @@
  */
 
 #include "ekf.h"
+#include "mathlib.h"
 
 void Ekf::fuseVelPosHeight()
 {
@@ -90,7 +91,10 @@ void Ekf::fuseVelPosHeight()
 			R[3] = fmaxf(_params.pos_noaid_noise, 0.5f);
 
 		} else {
-			R[3] = fmaxf(_params.gps_pos_noise, 0.01f);
+			float lower_limit = fmaxf(_params.gps_pos_noise, 0.01f);
+			float upper_limit = fmaxf(_params.pos_noaid_noise, lower_limit);
+			R[3] = math::constrain(_gps_hpos_accuracy, lower_limit, upper_limit);
+
 		}
 
 		R[3] = R[3] * R[3];