diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
index 8099f0d41d..1c9a3a0c4e 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
@@ -362,7 +362,7 @@ void NavEKF2_core::readIMUData()
         // reset the counter used to let the frontend know how many frames have elapsed since we started a new update cycle
         framesSincePredict = 0;
 
-        // set the flag to let the filter know it has new IMU data nad needs to run
+        // set the flag to let the filter know it has new IMU data and needs to run
         runUpdates = true;
 
         // extract the oldest available data from the FIFO buffer
@@ -494,7 +494,7 @@ void NavEKF2_core::readGpsData()
             // Post-alignment checks
             calcGpsGoodForFlight();
 
-            // Read the GPS locaton in WGS-84 lat,long,height coordinates
+            // Read the GPS location in WGS-84 lat,long,height coordinates
             const struct Location &gpsloc = gps.location();
 
             // Set the EKF origin and magnetic field declination if not previously set  and GPS checks have passed
@@ -508,7 +508,7 @@ void NavEKF2_core::readGpsData()
                 // Set the height of the NED origin
                 ekfGpsRefHgt = (double)0.01 * (double)gpsloc.alt + (double)outputDataNew.position.z;
 
-                // Set the uncertinty of the GPS origin height
+                // Set the uncertainty of the GPS origin height
                 ekfOriginHgtVar = sq(gpsHgtAccuracy);
 
             }