diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp
index 2f12983c3..8091e3ad2 100644
--- a/gtsam/navigation/tests/testCombinedImuFactor.cpp
+++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp
@@ -230,21 +230,21 @@ TEST(CombinedImuFactor, CheckCovariance) {
   actual.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
 
   Eigen::Matrix<double, 15, 15> expected;
-  expected << 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,  //
-      0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,          //
-      0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,          //
-      0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,   //
-      0, 0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,   //
-      0, 0, 0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0,   //
-      0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0, 0,      //
-      0, 0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0,      //
-      0, 0, 0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0,      //
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0,          //
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0,          //
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0,          //
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0,          //
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0,          //
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01;
+  expected << 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,          //
+      0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,                  //
+      0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,                  //
+      0, 0, 0, 2.50025e-07, 0, 0, 5.0005e-05, 0, 0, 0, 0, 0, 0, 0, 0,  //
+      0, 0, 0, 0, 2.50025e-07, 0, 0, 5.0005e-05, 0, 0, 0, 0, 0, 0, 0,  //
+      0, 0, 0, 0, 0, 2.50025e-07, 0, 0, 5.0005e-05, 0, 0, 0, 0, 0, 0,  //
+      0, 0, 0, 5.0005e-05, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0, 0,     //
+      0, 0, 0, 0, 5.0005e-05, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0,     //
+      0, 0, 0, 0, 0, 5.0005e-05, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0,     //
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0,                  //
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0,                  //
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0,                  //
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0,                  //
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0,                  //
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0;
 
   // regression
   EXPECT(assert_equal(expected, actual.preintMeasCov()));