diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp
index 6a196cb75..fcb85d2b7 100644
--- a/gtsam/navigation/NavState.cpp
+++ b/gtsam/navigation/NavState.cpp
@@ -215,6 +215,7 @@ NavState NavState::update(const Vector3& b_acceleration, const Vector3& b_omega,
 Vector9 NavState::coriolis(double dt, const Vector3& omega, bool secondOrder,
     OptionalJacobian<9, 9> H) const {
   TIE(nRb, n_t, n_v, *this);
+  Matrix3 bRn = nRb.matrix().transpose();
   const double dt2 = dt * dt;
   const Vector3 omega_cross_vel = omega.cross(n_v);
 
@@ -231,8 +232,8 @@ Vector9 NavState::coriolis(double dt, const Vector3& omega, bool secondOrder,
 
   // NOTE(tim): position and velocity changes dP and dV are in nav frame; need
   // to put them into local frame for subsequent retract
-  dP(xi) = nRb.unrotate(dP(xi));
-  dV(xi) = nRb.unrotate(dV(xi));
+  dP(xi) = bRn * dP(xi);
+  dV(xi) = bRn * dV(xi);
 
 
   if (H) {
@@ -241,14 +242,14 @@ Vector9 NavState::coriolis(double dt, const Vector3& omega, bool secondOrder,
     const Matrix3 D_cross_state = Omega * R();
     H->setZero();
     D_R_R(H) << D_dP_R;
-    D_t_v(H) << nRb.matrix().transpose() * (-dt2) * D_cross_state;
+    D_t_v(H) << bRn * (-dt2) * D_cross_state;
     D_t_R(H) << skewSymmetric(dP(xi));
-    D_v_v(H) << nRb.matrix().transpose() * (-2.0 * dt) * D_cross_state;
+    D_v_v(H) << bRn * (-2.0 * dt) * D_cross_state;
     D_v_R(H) << skewSymmetric(dV(xi));
     if (secondOrder) {
       const Matrix3 D_cross2_state = Omega * D_cross_state;
-      D_t_t(H) -= nRb.matrix().transpose() * (0.5 * dt2) * D_cross2_state;
-      D_v_t(H) -= nRb.matrix().transpose() * dt * D_cross2_state;
+      D_t_t(H) -= bRn * (0.5 * dt2) * D_cross2_state;
+      D_v_t(H) -= bRn * dt * D_cross2_state;
     }
   }
   return xi;