diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index 28a314247..7e45e5380 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@@ -93,11 +93,11 @@ struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams {
 
   void setBiasAccCovariance(const Matrix3& cov) { biasAccCovariance=cov; }
   void setBiasOmegaCovariance(const Matrix3& cov) { biasOmegaCovariance=cov; }
-  void setBiasAccOmegaInt(const Matrix6& cov) { biasAccOmegaInit=cov; }
+  void setBiasAccOmegaInit(const Matrix6& cov) { biasAccOmegaInit=cov; }
   
   const Matrix3& getBiasAccCovariance() const { return biasAccCovariance; }
   const Matrix3& getBiasOmegaCovariance() const { return biasOmegaCovariance; }
-  const Matrix6& getBiasAccOmegaInt() const { return biasAccOmegaInit; }
+  const Matrix6& getBiasAccOmegaInit() const { return biasAccOmegaInit; }
   
 private:
 
diff --git a/gtsam/navigation/navigation.i b/gtsam/navigation/navigation.i
index 6ede1645f..ab95d5a29 100644
--- a/gtsam/navigation/navigation.i
+++ b/gtsam/navigation/navigation.i
@@ -165,11 +165,11 @@ virtual class PreintegrationCombinedParams : gtsam::PreintegrationParams {
 
   void setBiasAccCovariance(Matrix cov);
   void setBiasOmegaCovariance(Matrix cov);
-  void setBiasAccOmegaInt(Matrix cov);
+  void setBiasAccOmegaInit(Matrix cov);
   
   Matrix getBiasAccCovariance() const ;
   Matrix getBiasOmegaCovariance() const ;
-  Matrix getBiasAccOmegaInt() const;
+  Matrix getBiasAccOmegaInit() const;
  
 };
 
diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp
index 48a89d7a0..de8a97ee1 100644
--- a/gtsam/navigation/tests/testCombinedImuFactor.cpp
+++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp
@@ -276,10 +276,11 @@ TEST(CombinedImuFactor, SameCovariance) {
   auto combined_params = PreintegrationCombinedParams::MakeSharedU();
   combined_params->setAccelerometerCovariance(pow(0.01, 2) * I_3x3);
   combined_params->setGyroscopeCovariance(pow(1.75e-4, 2) * I_3x3);
-  combined_params->setIntegrationCovariance(pow(0, 2) * I_3x3);
-  combined_params->setOmegaCoriolis(Vector3::Zero());
   // Set bias integration covariance explicitly to zero
-  combined_params->setBiasAccOmegaInt(Z_6x6);
+  combined_params->setIntegrationCovariance(Z_3x3);
+  combined_params->setOmegaCoriolis(Z_3x1);
+  // Set bias initial covariance explicitly to zero
+  combined_params->setBiasAccOmegaInit(Z_6x6);
 
   // The IMU preintegration object for CombinedImuFactor
   PreintegratedCombinedMeasurements cpim(combined_params, currentBias);