diff --git a/examples/LIEKF_NavstateExample.cpp b/examples/IEKF_NavstateExample.cpp
similarity index 100%
rename from examples/LIEKF_NavstateExample.cpp
rename to examples/IEKF_NavstateExample.cpp
diff --git a/examples/LIEKF_Rot3Example.cpp b/examples/IEKF_Rot3Example.cpp
similarity index 100%
rename from examples/LIEKF_Rot3Example.cpp
rename to examples/IEKF_Rot3Example.cpp
diff --git a/examples/LIEKF_SE2_SimpleGPSExample.cpp b/examples/IEKF_SE2Example.cpp
similarity index 100%
rename from examples/LIEKF_SE2_SimpleGPSExample.cpp
rename to examples/IEKF_SE2Example.cpp
diff --git a/gtsam/navigation/LIEKF.h b/gtsam/navigation/InvariantEKF.h
similarity index 100%
rename from gtsam/navigation/LIEKF.h
rename to gtsam/navigation/InvariantEKF.h
diff --git a/gtsam/navigation/tests/testLIEKF.cpp b/gtsam/navigation/tests/testInvariantEKF.cpp
similarity index 100%
rename from gtsam/navigation/tests/testLIEKF.cpp
rename to gtsam/navigation/tests/testInvariantEKF.cpp