diff --git a/gtsam/navigation/tests/testGeographicLib.cpp b/gtsam/navigation/tests/testGeographicLib.cpp
index c8b18f013..44964c569 100644
--- a/gtsam/navigation/tests/testGeographicLib.cpp
+++ b/gtsam/navigation/tests/testGeographicLib.cpp
@@ -17,6 +17,8 @@
 
 #include <GeographicLib/Geocentric.hpp>
 #include <GeographicLib/UTMUPS.hpp>
+#include <GeographicLib/LocalCartesian.hpp>
+
 #include <CppUnitLite/TestHarness.h>
 
 #include <iostream>
@@ -26,7 +28,7 @@ using namespace std;
 using namespace GeographicLib;
 
 // Dekalb-Peachtree Airport runway 2L
-double lat = 33.87071, lon = -84.30482000000001, h = 274;
+const double lat = 33.87071, lon = -84.30482, h = 274;
 
 //**************************************************************************
 TEST( GeographicLib, Geocentric) {
@@ -63,6 +65,36 @@ TEST( GeographicLib, UTM) {
   EXPECT_DOUBLES_EQUAL(3751090.08, y, 1e-2);
 }
 
+//**************************************************************************
+TEST( GeographicLib, ENU) {
+
+  const Geocentric& earth = Geocentric::WGS84;
+
+  // ENU Origin is where the plane was in hold next to runway
+  const double lat0 = 33.86998, lon0 = -84.30626, h0 = 274;
+  LocalCartesian enu(lat0, lon0, h0, earth);
+
+  // From lat-lon to geocentric
+  double E, N, U;
+  enu.Forward(lat0, lon0, h0, E, N, U);
+  EXPECT_DOUBLES_EQUAL(0, E, 1e-2);
+  EXPECT_DOUBLES_EQUAL(0, N, 1e-2);
+  EXPECT_DOUBLES_EQUAL(0, U, 1e-2);
+
+  // From lat-lon to geocentric
+  enu.Forward(lat, lon, h, E, N, U);
+  EXPECT_DOUBLES_EQUAL(133.24, E, 1e-2);
+  EXPECT_DOUBLES_EQUAL(80.98, N, 1e-2);
+  EXPECT_DOUBLES_EQUAL(0, U, 1e-2);
+
+  // From geocentric to lat-lon
+  double lat_, lon_, h_;
+  enu.Reverse(E, N, U, lat_, lon_, h_);
+  EXPECT_DOUBLES_EQUAL(lat, lat_, 1e-5);
+  EXPECT_DOUBLES_EQUAL(lon, lon_, 1e-5);
+  EXPECT_DOUBLES_EQUAL(h, h_, 1e-5);
+}
+
 //**************************************************************************
 int main() {
   TestResult tr;