Robot Localization with GPS problems

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Hi,

I'm new to robot localization and I'm trying to use ekf sensor fusion and navsat transform to do localization. I'm a little confused as to what filtered GPS is supposed to give me. In my rosbag and robot localization setup example, the output of GPS filtered is the same as my raw GPS data, except it is vibrating and jumping around at high frequency. I tried tuning the parameters in EKF localization node, but the results are the same, the GPS filtered is not smooth (which what I think it should be). Can I get some help here?

Thanks.

Rosbag: https://drive.google.com/file/d/1zlT3...

Launch file: https://drive.google.com/file/d/1G4zs...

Param file: https://drive.google.com/file/d/1657f...