diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp
index fcbecac2a..e87a9017b 100644
--- a/gtsam/navigation/tests/testImuFactor.cpp
+++ b/gtsam/navigation/tests/testImuFactor.cpp
@@ -830,6 +830,19 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) {
 
   pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
 
+  Matrix expected(9,9);
+  expected <<
+      0.0001, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,//
+      0.0, 0.0001,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,//
+      0.0,    0.0, 0.0001,    0.0,    0.0,    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,    0.0,   0.01,    0.0,    0.0,    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,    0.0,   0.0290687976,    0.0,    0.0,//
+      0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,   0.0290687976,    0.0,//
+      0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,   0.03;
+  EXPECT(assert_equal(expected, pim.preintMeasCov(), 1e-7));
+
   // Create factor
   ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown,
       kNonZeroOmegaCoriolis);
@@ -935,6 +948,19 @@ TEST(ImuFactor, PredictArbitrary) {
   for (int i = 0; i < 1000; ++i)
     pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
 
+  Matrix expected(9,9);
+  expected << //
+      0.142448905,    0.00345595825, -0.0225794125,    0.34774305,     0.0119449979,  -0.075667905,   -0.0144839494,  -0.0454268484,   0.00489577218,//
+      0.00345595825,  0.143318431,    0.0200549262,    0.0112877167,   0.351503176,    0.0629164907,   0.044978128,   -0.0149428917,   0.00839301168,  //
+     -0.0225794125,   0.0200549262,   0.0104041905,   -0.0580647212,   0.051116506,    0.0285371399,   0.0100471195,   0.00609093775,  0.000448720395, //
+      0.34774305,     0.0112877167,  -0.0580647212,    0.911721561,    0.0412249672,  -0.205920425,   -0.0409843415,  -0.13554868,     0.00879031682,  //
+      0.0119449979,   0.351503176,    0.051116506,     0.0412249672,   0.928013807,    0.169935105,    0.134423822,   -0.0471183681,   0.0162199769,   //
+     -0.075667905,    0.0629164907,   0.0285371399,   -0.205920425,    0.169935105,    0.09407764,     0.0383280513,   0.0247643646,   0.00112485862,//
+     -0.0144839494,   0.044978128,    0.0100471195,   -0.0409843415,   0.134423822,    0.0383280513,   0.0299999995,   0.0,            0.0, //
+     -0.0454268484,  -0.0149428917,   0.00609093775,  -0.13554868,    -0.0471183681,   0.0247643646,   0.0,            0.0299999995,   0.0, //
+      0.00489577218,  0.00839301168,  0.000448720395,  0.00879031682,  0.0162199769,   0.00112485862,  0.0,            0.0,            0.0299999995;
+  EXPECT(assert_equal(expected, pim.preintMeasCov(), 1e-7));
+
   // Create factor
   ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown,
       kZeroOmegaCoriolis);