diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp
index ce74d6cae..fda82eca9 100644
--- a/gtsam/navigation/tests/testCombinedImuFactor.cpp
+++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp
@@ -271,7 +271,6 @@ TEST(CombinedImuFactor, PredictPositionAndVelocity){
   Vector3 measuredOmega; measuredOmega << 0, 0, 0;//M_PI/10.0+0.3;
   Vector3 measuredAcc; measuredAcc << 0,1,-9.81;
   double deltaT = 0.001;
-  double tol = 1e-6;
 
   Matrix I6x6(6,6);
   I6x6 = Matrix::Identity(6,6);
diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp
index 7508a593b..dc4c93235 100644
--- a/gtsam/navigation/tests/testImuFactor.cpp
+++ b/gtsam/navigation/tests/testImuFactor.cpp
@@ -569,7 +569,6 @@ TEST(ImuFactor, PredictPositionAndVelocity){
   Vector3 measuredOmega; measuredOmega << 0, 0, 0;//M_PI/10.0+0.3;
   Vector3 measuredAcc; measuredAcc << 0,1,-9.81;
   double deltaT = 0.001;
-  double tol = 1e-6;
 
   Matrix I6x6(6,6);
   I6x6 = Matrix::Identity(6,6);
@@ -603,7 +602,6 @@ TEST(ImuFactor, PredictRotation) {
   Vector3 measuredOmega; measuredOmega << 0, 0, M_PI/10;//M_PI/10.0+0.3;
   Vector3 measuredAcc; measuredAcc << 0,0,-9.81;
   double deltaT = 0.001;
-  double tol = 1e-6;
 
   Matrix I6x6(6,6);
   I6x6 = Matrix::Identity(6,6);