diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp
index bb01971e6..b550af134 100644
--- a/gtsam/navigation/PreintegrationBase.cpp
+++ b/gtsam/navigation/PreintegrationBase.cpp
@@ -297,7 +297,7 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i,
 PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i,
     const Vector3& vel_i, const imuBias::ConstantBias& bias_i,
     const Vector3& n_gravity, const Vector3& omegaCoriolis,
-    const bool use2ndOrderCoriolis) {
+    const bool use2ndOrderCoriolis) const {
   // NOTE(frank): parameters are supposed to be constant, below is only provided for compatibility
   boost::shared_ptr<Params> q = boost::make_shared<Params>(p());
   q->n_gravity = n_gravity;
diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h
index 07225dd9a..26b8aca2a 100644
--- a/gtsam/navigation/PreintegrationBase.h
+++ b/gtsam/navigation/PreintegrationBase.h
@@ -109,8 +109,8 @@ protected:
    */
   NavState deltaXij_;
 
-  /// Parameters
-  boost::shared_ptr<Params> p_;
+  /// Parameters. Declared mutable only for deprecated predict method.
+  mutable boost::shared_ptr<Params> p_;
 
   /// Acceleration and gyro bias used for preintegration
   imuBias::ConstantBias biasHat_;
@@ -239,7 +239,7 @@ public:
   /// @deprecated predict
   PoseVelocityBias predict(const Pose3& pose_i, const Vector3& vel_i,
       const imuBias::ConstantBias& bias_i, const Vector3& n_gravity,
-      const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false);
+      const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false) const;
 
 private:
   /** Serialization function */