diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp
index 54d4ce0ed..582d96acb 100644
--- a/gtsam/navigation/ImuFactor.cpp
+++ b/gtsam/navigation/ImuFactor.cpp
@@ -235,8 +235,8 @@ ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias,
     const bool use2ndOrderCoriolis) :
 Base(noiseModel::Gaussian::Covariance(pim.preintMeasCov_), pose_i, vel_i,
     pose_j, vel_j, bias), _PIM_(pim) {
-  boost::shared_ptr<PreintegratedImuMeasurements::Params> p = boost::make_shared<
-  PreintegratedImuMeasurements::Params>(pim.p());
+  boost::shared_ptr<PreintegrationParams> p = boost::make_shared<
+  PreintegrationParams>(pim.p());
   p->n_gravity = n_gravity;
   p->omegaCoriolis = omegaCoriolis;
   p->body_P_sensor = body_P_sensor;
diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h
index aa544542d..de451b7e3 100644
--- a/gtsam/navigation/ScenarioRunner.h
+++ b/gtsam/navigation/ScenarioRunner.h
@@ -39,7 +39,7 @@ static noiseModel::Diagonal::shared_ptr Diagonal(const Matrix& covariance) {
 class ScenarioRunner {
  public:
   typedef imuBias::ConstantBias Bias;
-  typedef boost::shared_ptr<PreintegratedImuMeasurements::Params> SharedParams;
+  typedef boost::shared_ptr<PreintegrationParams> SharedParams;
 
  private:
   const Scenario& scenario_;
diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp
index 6f2d60f2f..de7de6f4e 100644
--- a/gtsam/navigation/tests/testImuFactor.cpp
+++ b/gtsam/navigation/tests/testImuFactor.cpp
@@ -803,11 +803,11 @@ TEST(ImuFactor, bodyPSensorWithBias) {
 static const double kVelocity = 2.0, kAngularVelocity = M_PI / 6;
 
 struct ImuFactorMergeTest {
-  boost::shared_ptr<PreintegratedImuMeasurements::Params> p_;
+  boost::shared_ptr<PreintegrationParams> p_;
   const ConstantTwistScenario forward_, loop_;
 
   ImuFactorMergeTest()
-      : p_(PreintegratedImuMeasurements::Params::MakeSharedU(kGravity)),
+      : p_(PreintegrationParams::MakeSharedU(kGravity)),
         forward_(kZero, Vector3(kVelocity, 0, 0)),
         loop_(Vector3(0, -kAngularVelocity, 0), Vector3(kVelocity, 0, 0)) {
     // arbitrary noise values
diff --git a/gtsam/navigation/tests/testScenarios.cpp b/gtsam/navigation/tests/testScenarios.cpp
index e790c45ba..2129d2d92 100644
--- a/gtsam/navigation/tests/testScenarios.cpp
+++ b/gtsam/navigation/tests/testScenarios.cpp
@@ -34,7 +34,7 @@ static const Vector3 kAccBias(0.2, 0, 0), kRotBias(0.1, 0, 0.3);
 static const imuBias::ConstantBias kNonZeroBias(kAccBias, kRotBias);
 
 // Create default parameters with Z-up and above noise parameters
-static boost::shared_ptr<PreintegratedImuMeasurements::Params> defaultParams() {
+static boost::shared_ptr<PreintegrationParams> defaultParams() {
   auto p = PreintegrationParams::MakeSharedU(10);
   p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3;
   p->accelerometerCovariance = kAccelSigma * kAccelSigma * I_3x3;