diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 511b47c621..3c5ce05dff 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -1858,8 +1858,6 @@ void NavEKF::FuseVelPosNED()
     Vector3f velInnov;
     Vector3f velInnov1;
     Vector3f velInnov2;
-    Vector2 posInnov;
-    float hgtInnov = 0;
 
     // declare variables used to control access to arrays
     bool fuseData[6] = {false,false,false,false,false,false};
@@ -1963,8 +1961,8 @@ void NavEKF::FuseVelPosNED()
         // test position measurements
         if (fusePosData) {
             // test horizontal position measurements
-            posInnov[0] = statesAtPosTime.position.x - observation[3];
-            posInnov[1] = statesAtPosTime.position.y - observation[4];
+            innovVelPos[3] = statesAtPosTime.position.x - observation[3];
+            innovVelPos[4] = statesAtPosTime.position.y - observation[4];
             varInnovVelPos[3] = P[7][7] + R_OBS_DATA_CHECKS[3];
             varInnovVelPos[4] = P[8][8] + R_OBS_DATA_CHECKS[4];
             // apply an innovation consistency threshold test, but don't fail if bad IMU data
@@ -1972,7 +1970,7 @@ void NavEKF::FuseVelPosNED()
             // max inertial nav error is scaled with horizontal g to allow for increased errors when manoeuvring
             float accelScale =  (1.0f + 0.1f * accNavMag);
             float maxPosInnov2 = sq(_gpsPosInnovGate * _gpsHorizPosNoise + 0.005f * accelScale * float(_gpsGlitchAccelMax) * sq(0.001f * float(imuSampleTime_ms - lastPosPassTime)));
-            posTestRatio = (sq(posInnov[0]) + sq(posInnov[1])) / maxPosInnov2;
+            posTestRatio = (sq(innovVelPos[3]) + sq(innovVelPos[4])) / maxPosInnov2;
             posHealth = ((posTestRatio < 1.0f) || badIMUdata);
             // declare a timeout condition if we have been too long without data or not aiding
             posTimeout = (((imuSampleTime_ms - lastPosPassTime) > gpsRetryTime) || PV_AidingMode == AID_NONE);
@@ -1984,8 +1982,8 @@ void NavEKF::FuseVelPosNED()
                     lastPosPassTime = imuSampleTime_ms;
                     // if timed out or outside the specified glitch radius, increment the offset applied to GPS data to compensate for large GPS position jumps
                     if (posTimeout || (maxPosInnov2 > sq(float(_gpsGlitchRadiusMax)))) {
-                        gpsPosGlitchOffsetNE.x += posInnov[0];
-                        gpsPosGlitchOffsetNE.y += posInnov[1];
+                        gpsPosGlitchOffsetNE.x += innovVelPos[3];
+                        gpsPosGlitchOffsetNE.y += innovVelPos[4];
                         // limit the radius of the offset and decay the offset to zero radially
                         decayGpsOffset();
                         // reset the position to the current GPS position which will include the glitch correction offset
@@ -2062,10 +2060,10 @@ void NavEKF::FuseVelPosNED()
         // test height measurements
         if (fuseHgtData) {
             // calculate height innovations
-            hgtInnov = statesAtHgtTime.position.z - observation[5];
+            innovVelPos[5] = statesAtHgtTime.position.z - observation[5];
             varInnovVelPos[5] = P[9][9] + R_OBS_DATA_CHECKS[5];
             // calculate the innovation consistency test ratio
-            hgtTestRatio = sq(hgtInnov) / (sq(_hgtInnovGate) * varInnovVelPos[5]);
+            hgtTestRatio = sq(innovVelPos[5]) / (sq(_hgtInnovGate) * varInnovVelPos[5]);
             // fail if the ratio is > 1, but don't fail if bad IMU data
             hgtHealth = ((hgtTestRatio < 1.0f) || badIMUdata);
             hgtTimeout = (imuSampleTime_ms - lastHgtPassTime) > hgtRetryTime;