diff --git a/gtsam/navigation/tests/testGPSFactor.cpp b/gtsam/navigation/tests/testGPSFactor.cpp
index d9ba38e02..293bffa00 100644
--- a/gtsam/navigation/tests/testGPSFactor.cpp
+++ b/gtsam/navigation/tests/testGPSFactor.cpp
@@ -58,7 +58,7 @@ TEST( GPSFactor, Constructor ) {
 
   // Create a linearization point at zero error
   Pose3 T(Rot3::RzRyRx(0.15, -0.30, 0.45), Point3(E, N, U));
-  EXPECT(assert_equal(Z_3x3,factor.evaluateError(T),1e-5));
+  EXPECT(assert_equal(Z_3x1,factor.evaluateError(T),1e-5));
 
   // Calculate numerical derivatives
   Matrix expectedH = numericalDerivative11<Vector,Pose3>(
@@ -87,7 +87,7 @@ TEST( GPSFactor2, Constructor ) {
 
   // Create a linearization point at zero error
   NavState T(Rot3::RzRyRx(0.15, -0.30, 0.45), Point3(E, N, U), Vector3::Zero());
-  EXPECT(assert_equal(Z_3x3,factor.evaluateError(T),1e-5));
+  EXPECT(assert_equal(Z_3x1,factor.evaluateError(T),1e-5));
 
   // Calculate numerical derivatives
   Matrix expectedH = numericalDerivative11<Vector,NavState>(
diff --git a/gtsam/navigation/tests/testMagFactor.cpp b/gtsam/navigation/tests/testMagFactor.cpp
index 1cc84751c..45db58e33 100644
--- a/gtsam/navigation/tests/testMagFactor.cpp
+++ b/gtsam/navigation/tests/testMagFactor.cpp
@@ -71,19 +71,19 @@ TEST( MagFactor, Factors ) {
 
   // MagFactor
   MagFactor f(1, measured, s, dir, bias, model);
-  EXPECT( assert_equal(Z_3x3,f.evaluateError(theta,H1),1e-5));
+  EXPECT( assert_equal(Z_3x1,f.evaluateError(theta,H1),1e-5));
   EXPECT( assert_equal((Matrix)numericalDerivative11<Vector,Rot2> //
       (boost::bind(&MagFactor::evaluateError, &f, _1, none), theta), H1, 1e-7));
 
 // MagFactor1
   MagFactor1 f1(1, measured, s, dir, bias, model);
-  EXPECT( assert_equal(Z_3x3,f1.evaluateError(nRb,H1),1e-5));
+  EXPECT( assert_equal(Z_3x1,f1.evaluateError(nRb,H1),1e-5));
   EXPECT( assert_equal(numericalDerivative11<Vector,Rot3> //
       (boost::bind(&MagFactor1::evaluateError, &f1, _1, none), nRb), H1, 1e-7));
 
 // MagFactor2
   MagFactor2 f2(1, 2, measured, nRb, model);
-  EXPECT( assert_equal(Z_3x3,f2.evaluateError(scaled,bias,H1,H2),1e-5));
+  EXPECT( assert_equal(Z_3x1,f2.evaluateError(scaled,bias,H1,H2),1e-5));
   EXPECT( assert_equal(numericalDerivative11<Vector,Point3> //
       (boost::bind(&MagFactor2::evaluateError, &f2, _1, bias, none, none), scaled),//
       H1, 1e-7));
@@ -93,7 +93,7 @@ TEST( MagFactor, Factors ) {
 
 // MagFactor2
   MagFactor3 f3(1, 2, 3, measured, nRb, model);
-  EXPECT(assert_equal(Z_3x3,f3.evaluateError(s,dir,bias,H1,H2,H3),1e-5));
+  EXPECT(assert_equal(Z_3x1,f3.evaluateError(s,dir,bias,H1,H2,H3),1e-5));
   EXPECT(assert_equal((Matrix)numericalDerivative11<Vector,double> //
       (boost::bind(&MagFactor3::evaluateError, &f3, _1, dir, bias, none, none, none), s),//
       H1, 1e-7));