diff --git a/gtsam/navigation/AHRSFactor.cpp b/gtsam/navigation/AHRSFactor.cpp
index c77eb523e..343957546 100644
--- a/gtsam/navigation/AHRSFactor.cpp
+++ b/gtsam/navigation/AHRSFactor.cpp
@@ -119,7 +119,7 @@ void AHRSFactor::PreintegratedMeasurements::integrateMeasurement(
   Matrix3 H_angles_angles = Jrinv_theta_j * incrRt * Jr_theta_i;
   // analytic expression corresponding to the following numerical derivative
   // Matrix H_angles_angles = numericalDerivative11<LieVector, LieVector>
-  // (boost::bind(&PreIntegrateIMUObservations_delta_angles, correctedOmega, deltaT, _1), thetaij);
+  // (boost::bind(&DeltaAngles, correctedOmega, deltaT, _1), thetaij);
 
   // overall Jacobian wrpt preintegrated measurements (df/dx)
   const Matrix3& F = H_angles_angles;
@@ -136,7 +136,7 @@ void AHRSFactor::PreintegratedMeasurements::integrateMeasurement(
 }
 
 //------------------------------------------------------------------------------
-Vector AHRSFactor::PreintegratedMeasurements::PreIntegrateIMUObservations_delta_angles(
+Vector AHRSFactor::PreintegratedMeasurements::DeltaAngles(
     const Vector& msr_gyro_t, const double msr_dt,
     const Vector3& delta_angles) {
 
diff --git a/gtsam/navigation/AHRSFactor.h b/gtsam/navigation/AHRSFactor.h
index de70b1d45..86fff9742 100644
--- a/gtsam/navigation/AHRSFactor.h
+++ b/gtsam/navigation/AHRSFactor.h
@@ -99,8 +99,7 @@ public:
 
     // This function is only used for test purposes
     // (compare numerical derivatives wrt analytic ones)
-    static Vector PreIntegrateIMUObservations_delta_angles(
-        const Vector& msr_gyro_t, const double msr_dt,
+    static Vector DeltaAngles(const Vector& msr_gyro_t, const double msr_dt,
         const Vector3& delta_angles);
 
   private: