diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index 0ffb386a0..5772fc5ae 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@@ -84,7 +84,7 @@ class GTSAM_EXPORT PreintegratedCombinedMeasurements
   /// @{
 
   /// Default constructor only for serialization and wrappers
-  PreintegratedCombinedMeasurements() { preintMeasCov_.setZero(); }
+  PreintegratedCombinedMeasurements() { resetIntegration(); }
 
   /**
    *  Default constructor, initializes the class with no measurements
@@ -97,7 +97,9 @@ class GTSAM_EXPORT PreintegratedCombinedMeasurements
       const imuBias::ConstantBias& biasHat = imuBias::ConstantBias(),
       const Eigen::Matrix<double, 15, 15>& preintMeasCov =
           Eigen::Matrix<double, 15, 15>::Zero())
-      : PreintegrationType(p, biasHat), preintMeasCov_(preintMeasCov) {}
+      : PreintegrationType(p, biasHat), preintMeasCov_(preintMeasCov) {
+    PreintegrationType::resetIntegration();
+  }
 
   /**
    *  Construct preintegrated directly from members: base class and
@@ -108,7 +110,9 @@ class GTSAM_EXPORT PreintegratedCombinedMeasurements
   PreintegratedCombinedMeasurements(
       const PreintegrationType& base,
       const Eigen::Matrix<double, 15, 15>& preintMeasCov)
-      : PreintegrationType(base), preintMeasCov_(preintMeasCov) {}
+      : PreintegrationType(base), preintMeasCov_(preintMeasCov) {
+    PreintegrationType::resetIntegration();
+  }
 
   /// Virtual destructor
   ~PreintegratedCombinedMeasurements() override {}
diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h
index a3d7dce75..fd087aaee 100644
--- a/gtsam/navigation/ImuFactor.h
+++ b/gtsam/navigation/ImuFactor.h
@@ -79,7 +79,7 @@ public:
 
   /// Default constructor for serialization and wrappers
   PreintegratedImuMeasurements() {
-    preintMeasCov_.setZero();
+    resetIntegration();
   }
 
  /**
@@ -90,7 +90,7 @@ public:
   PreintegratedImuMeasurements(const std::shared_ptr<PreintegrationParams>& p,
       const imuBias::ConstantBias& biasHat = imuBias::ConstantBias()) :
       PreintegrationType(p, biasHat) {
-    preintMeasCov_.setZero();
+    resetIntegration();
   }
 
 /**
@@ -101,6 +101,7 @@ public:
   PreintegratedImuMeasurements(const PreintegrationType& base, const Matrix9& preintMeasCov)
      : PreintegrationType(base),
        preintMeasCov_(preintMeasCov) {
+    PreintegrationType::resetIntegration();
   }
 
   /// Virtual destructor