diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index 7ca7fe463..a7802120c 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@@ -111,7 +111,7 @@ public:
 
  protected:
   /* Covariance matrix of the preintegrated measurements
-   * COVARIANCE OF: [PreintPOSITION PreintVELOCITY PreintROTATION BiasAcc BiasOmega]
+   * COVARIANCE OF: [PreintROTATION PreintPOSITION PreintVELOCITY BiasAcc BiasOmega]
    * (first-order propagation from *measurementCovariance*).
    * PreintegratedCombinedMeasurements also include the biases and keep the correlation
    * between the preintegrated measurements and the biases
diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h
index ee1369f6b..8e3f8f0a4 100644
--- a/gtsam/navigation/ImuFactor.h
+++ b/gtsam/navigation/ImuFactor.h
@@ -75,7 +75,7 @@ class GTSAM_EXPORT PreintegratedImuMeasurements: public PreintegrationType {
 
 protected:
 
-  Matrix9 preintMeasCov_; ///< COVARIANCE OF: [PreintPOSITION PreintVELOCITY PreintROTATION]
+  Matrix9 preintMeasCov_; ///< COVARIANCE OF: [PreintROTATION PreintPOSITION PreintVELOCITY]
   ///< (first-order propagation from *measurementCovariance*).
 
 public: