diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index a7c6ecd39..d2ad32122 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@@ -212,6 +212,18 @@ public:
       boost::optional<Matrix&> H5 = boost::none,
       boost::optional<Matrix&> H6 = boost::none) const;
 
+  /** @deprecated The following function has been deprecated, use PreintegrationBase::predict with the same signature instead */
+  static void Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, Vector3& vel_j,
+      const imuBias::ConstantBias& bias_i, const CombinedPreintegratedMeasurements& PIM, const Vector3& gravity,
+      const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false,
+      boost::optional<Vector3&> deltaPij_biascorrected_out = boost::none,
+      boost::optional<Vector3&> deltaVij_biascorrected_out = boost::none) {
+	  PoseVelocityBias PVB(PIM.predict(pose_i, vel_i, bias_i, gravity, omegaCoriolis, use2ndOrderCoriolis, deltaPij_biascorrected_out, deltaVij_biascorrected_out));
+	  pose_j = PVB.pose;
+	  vel_j = PVB.velocity;
+  }
+
+
 private:
 
   /** Serialization function */
diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h
index b91c76ade..984d62d08 100644
--- a/gtsam/navigation/ImuFactor.h
+++ b/gtsam/navigation/ImuFactor.h
@@ -194,6 +194,17 @@ public:
       boost::optional<Matrix&> H4 = boost::none,
       boost::optional<Matrix&> H5 = boost::none) const;
 
+  /** @deprecated The following function has been deprecated, use PreintegrationBase::predict with the same signature instead */
+  static void Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, Vector3& vel_j,
+		  const imuBias::ConstantBias& bias_i, const PreintegratedMeasurements& PIM, const Vector3& gravity,
+      const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false,
+      boost::optional<Vector3&> deltaPij_biascorrected_out = boost::none,
+      boost::optional<Vector3&> deltaVij_biascorrected_out = boost::none) {
+	  PoseVelocityBias PVB(PIM.predict(pose_i, vel_i, bias_i, gravity, omegaCoriolis, use2ndOrderCoriolis, deltaPij_biascorrected_out, deltaVij_biascorrected_out));
+	  pose_j = PVB.pose;
+	  vel_j = PVB.velocity;
+  }
+
   private:
 
   /** Serialization function */
diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp
index 3f7109543..c6eb1396e 100644
--- a/gtsam/navigation/tests/testCombinedImuFactor.cpp
+++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp
@@ -320,11 +320,11 @@ TEST(CombinedImuFactor, PredictRotation) {
       Combined_pre_int_data, gravity, omegaCoriolis);
 
   // Predict
-  Pose3 x(Rot3().ypr(0,0, 0), Point3(0,0,0));
-  Vector3 v(0,0,0);
-  PoseVelocityBias poseVelocityBias = Combined_pre_int_data.predict(x,v,bias, gravity, omegaCoriolis);
+  Pose3 x(Rot3().ypr(0,0, 0), Point3(0,0,0)), x2;
+  Vector3 v(0,0,0), v2;
+  CombinedImuFactor::Predict(x, v, x2, v2, bias, Combinedfactor.preintegratedMeasurements(), gravity, omegaCoriolis);
   Pose3 expectedPose(Rot3().ypr(M_PI/10, 0,0), Point3(0,0,0));
-  EXPECT(assert_equal(expectedPose, poseVelocityBias.pose, tol));
+  EXPECT(assert_equal(expectedPose, x2, tol));
 }
 
 /* ************************************************************************* */
diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp
index 9c82a7dfa..62f496894 100644
--- a/gtsam/navigation/tests/testImuFactor.cpp
+++ b/gtsam/navigation/tests/testImuFactor.cpp
@@ -913,13 +913,14 @@ TEST(ImuFactor, PredictRotation) {
     ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, gravity, omegaCoriolis);
 
     // Predict
-    Pose3 x1;
-    Vector3 v1(0, 0.0, 0.0);
-    PoseVelocityBias poseVelocity = pre_int_data.predict(x1, v1, bias, gravity, omegaCoriolis);
+    Pose3 x1, x2;
+    Vector3 v1 = Vector3(0, 0.0, 0.0);
+    Vector3 v2;
+    ImuFactor::Predict(x1, v1, x2, v2, bias, factor.preintegratedMeasurements(), gravity, omegaCoriolis);
     Pose3 expectedPose(Rot3().ypr(M_PI/10, 0, 0), Point3(0, 0, 0));
     Vector3 expectedVelocity; expectedVelocity<<0,0,0;
-    EXPECT(assert_equal(expectedPose, poseVelocity.pose));
-    EXPECT(assert_equal(Vector(expectedVelocity), Vector(poseVelocity.velocity)));
+    EXPECT(assert_equal(expectedPose, x2));
+    EXPECT(assert_equal(Vector(expectedVelocity), Vector(v2)));
 }
 
 /* ************************************************************************* */