diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
index b6ae6e96cc..54cdab8aa9 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
@@ -543,6 +543,7 @@ void NavEKF3_core::readGpsData()
             } else {
                 gpsSpdAccuracy = MAX(gpsSpdAccuracy,gpsSpdAccRaw);
                 gpsSpdAccuracy = MIN(gpsSpdAccuracy,50.0f);
+                gpsSpdAccuracy = MAX(gpsSpdAccuracy,frontend->_gpsHorizVelNoise);
             }
             gpsPosAccuracy *= (1.0f - alpha);
             float gpsPosAccRaw;
@@ -551,6 +552,7 @@ void NavEKF3_core::readGpsData()
             } else {
                 gpsPosAccuracy = MAX(gpsPosAccuracy,gpsPosAccRaw);
                 gpsPosAccuracy = MIN(gpsPosAccuracy,100.0f);
+                gpsPosAccuracy = MAX(gpsPosAccuracy, frontend->_gpsHorizPosNoise);
             }
             gpsHgtAccuracy *= (1.0f - alpha);
             float gpsHgtAccRaw;
@@ -559,6 +561,7 @@ void NavEKF3_core::readGpsData()
             } else {
                 gpsHgtAccuracy = MAX(gpsHgtAccuracy,gpsHgtAccRaw);
                 gpsHgtAccuracy = MIN(gpsHgtAccuracy,100.0f);
+                gpsHgtAccuracy = MAX(gpsHgtAccuracy, 1.5f * frontend->_gpsHorizPosNoise);
             }
 
             // check if we have enough GPS satellites and increase the gps noise scaler if we don't