diff --git a/src/modules/ekf2/EKF/aux_global_position.cpp b/src/modules/ekf2/EKF/aux_global_position.cpp
index 269ba29e44..f64a990bae 100644
--- a/src/modules/ekf2/EKF/aux_global_position.cpp
+++ b/src/modules/ekf2/EKF/aux_global_position.cpp
@@ -56,6 +56,7 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
 		sample.altitude_amsl = aux_global_position.alt;
 		sample.eph = aux_global_position.eph;
 		sample.epv = aux_global_position.epv;
+		sample.lat_lon_reset_counter = aux_global_position.lat_lon_reset_counter;
 
 		_aux_global_position_buffer.push(sample);
 
@@ -103,12 +104,14 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
 
 				if (ekf.global_origin_valid()) {
 					ekf.enableControlStatusAuxGpos();
+					_reset_counters.lat_lon = sample.lat_lon_reset_counter;
 					_state = State::active;
 
 				} else {
 					// Try to initialize using measurement
 					if (ekf.setEkfGlobalOrigin(sample.latitude, sample.longitude, sample.altitude_amsl, sample.eph, sample.epv)) {
 						ekf.enableControlStatusAuxGpos();
+						_reset_counters.lat_lon = sample.lat_lon_reset_counter;
 						_state = State::active;
 					}
 				}
@@ -119,9 +122,11 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
 			if (continuing_conditions) {
 				ekf.fuseHorizontalPosition(aid_src);
 
-				if (isTimedOut(aid_src.time_last_fuse, imu_delayed.time_us, ekf._params.no_aid_timeout_max)) {
+				if (isTimedOut(aid_src.time_last_fuse, imu_delayed.time_us, ekf._params.no_aid_timeout_max)
+				    || (_reset_counters.lat_lon != sample.lat_lon_reset_counter)) {
 					ekf.resetHorizontalPositionTo(Vector2f(aid_src.observation), Vector2f(aid_src.observation_variance));
 					aid_src.time_last_fuse = imu_delayed.time_us;
+					_reset_counters.lat_lon = sample.lat_lon_reset_counter;
 				}
 
 			} else {
diff --git a/src/modules/ekf2/EKF/aux_global_position.hpp b/src/modules/ekf2/EKF/aux_global_position.hpp
index 072aacac55..4246477350 100644
--- a/src/modules/ekf2/EKF/aux_global_position.hpp
+++ b/src/modules/ekf2/EKF/aux_global_position.hpp
@@ -87,6 +87,7 @@ private:
 		float altitude_amsl{};
 		float eph{};
 		float epv{};
+		uint8_t lat_lon_reset_counter{};
 	};
 
 	RingBuffer<AuxGlobalPositionSample> _aux_global_position_buffer{20}; // TODO: size with _obs_buffer_length and actual publication rate
@@ -106,6 +107,11 @@ private:
 	State _state{State::stopped};
 
 #if defined(MODULE_NAME)
+	struct reset_counters_s {
+		uint8_t lat_lon{};
+	};
+	reset_counters_s _reset_counters{};
+
 	uORB::PublicationMulti<estimator_aid_source2d_s> _estimator_aid_src_aux_global_position_pub{ORB_ID(estimator_aid_src_aux_global_position)};
 	uORB::Subscription _aux_global_position_sub{ORB_ID(aux_global_position)};