diff --git a/doc/PreintegratedIMUJacobians.pdf b/doc/PreintegratedIMUJacobians.pdf
new file mode 100644
index 000000000..02616ee07
Binary files /dev/null and b/doc/PreintegratedIMUJacobians.pdf differ
diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index ed94750b7..a563d9d43 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@@ -42,6 +42,8 @@ typedef ManifoldPreintegration PreintegrationType;
  * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating
  * conditionally independent sets in factor graphs: a unifying perspective based
  * on smart factors, Int. Conf. on Robotics and Automation (ICRA), 2014.
+ * 
+ * [3] is available in this repo as "PreintegratedIMUJacobians.pdf".
  *
  * REFERENCES:
  * [1] G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups",
diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h
index 35207e452..0df606643 100644
--- a/gtsam/navigation/ImuFactor.h
+++ b/gtsam/navigation/ImuFactor.h
@@ -44,6 +44,8 @@ typedef ManifoldPreintegration PreintegrationType;
  * C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, "IMU Preintegration on
  * Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation",
  * Robotics: Science and Systems (RSS), 2015.
+ * 
+ * [3] is available in this repo as "PreintegratedIMUJacobians.pdf".
  *
  * REFERENCES:
  * [1] G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups",