diff --git a/gtsam/navigation/tests/testImuBias.cpp b/gtsam/navigation/tests/testImuBias.cpp
index bd321d51d..fb857f901 100644
--- a/gtsam/navigation/tests/testImuBias.cpp
+++ b/gtsam/navigation/tests/testImuBias.cpp
@@ -21,23 +21,109 @@
 using namespace std;
 using namespace gtsam;
 
+Vector biasAcc1(Vector3(0.2, -0.1, 0));
+Vector biasGyro1(Vector3(0.1, -0.3, -0.2));
+imuBias::ConstantBias bias1(biasAcc1, biasGyro1);
+
+Vector biasAcc2(Vector3(0.1,0.2,0.04));
+Vector biasGyro2(Vector3(-0.002, 0.005, 0.03));
+imuBias::ConstantBias bias2(biasAcc2, biasGyro2);
 
 /* ************************************************************************* */
 TEST( ImuBias, Constructor)
 {
-  Vector bias_acc(Vector3(0.1,0.2,0.4));
-  Vector bias_gyro(Vector3(-0.2, 0.5, 0.03));
-
   // Default Constructor
-  gtsam::imuBias::ConstantBias bias1;
+  imuBias::ConstantBias bias1;
 
   // Acc + Gyro Constructor
-  gtsam::imuBias::ConstantBias bias2(bias_acc, bias_gyro);
+  imuBias::ConstantBias bias2(biasAcc2, biasGyro2);
 
   // Copy Constructor
-  gtsam::imuBias::ConstantBias bias3(bias2);
+  imuBias::ConstantBias bias3(bias2);
 }
 
+/* ************************************************************************* */
+TEST( ImuBias, inverse)
+{
+  imuBias::ConstantBias biasActual = bias1.inverse();
+  imuBias::ConstantBias biasExpected = imuBias::ConstantBias(-biasAcc1, -biasGyro1);
+  EXPECT(assert_equal(biasExpected, biasActual));
+}
+
+/* ************************************************************************* */
+TEST( ImuBias, compose)
+{
+	imuBias::ConstantBias biasActual = bias2.compose(bias1);
+	imuBias::ConstantBias biasExpected = imuBias::ConstantBias(biasAcc1+biasAcc2, biasGyro1+biasGyro2);
+	EXPECT(assert_equal(biasExpected, biasActual));
+}
+
+/* ************************************************************************* */
+TEST( ImuBias, between)
+{
+	// p.between(q) == q - p
+	imuBias::ConstantBias biasActual = bias2.between(bias1);
+	imuBias::ConstantBias biasExpected = imuBias::ConstantBias(biasAcc1-biasAcc2, biasGyro1-biasGyro2);
+	EXPECT(assert_equal(biasExpected, biasActual));
+}
+
+/* ************************************************************************* */
+TEST( ImuBias, localCoordinates)
+{
+	Vector deltaActual = Vector(bias2.localCoordinates(bias1));
+	Vector deltaExpected = (imuBias::ConstantBias(biasAcc1-biasAcc2, biasGyro1-biasGyro2)).vector();
+	EXPECT(assert_equal(deltaExpected, deltaActual));
+}
+
+/* ************************************************************************* */
+TEST( ImuBias, retract)
+{
+	Vector6 delta; delta << 0.1, 0.2, -0.3, 0.1, -0.1, 0.2;
+	imuBias::ConstantBias biasActual = bias2.retract(delta);
+	imuBias::ConstantBias biasExpected = imuBias::ConstantBias(biasAcc2+delta.block<3,1>(0,0), biasGyro2+delta.block<3,1>(3,0));
+	EXPECT(assert_equal(biasExpected, biasActual));
+}
+
+/* ************************************************************************* */
+TEST( ImuBias, Logmap)
+{
+	Vector deltaActual = bias2.Logmap(bias1);
+	Vector deltaExpected = bias1.vector();
+	EXPECT(assert_equal(deltaExpected, deltaActual));
+}
+
+/* ************************************************************************* */
+TEST( ImuBias, Expmap)
+{
+	Vector6 delta; delta << 0.1, 0.2, -0.3, 0.1, -0.1, 0.2;
+	imuBias::ConstantBias biasActual = bias2.Expmap(delta);
+	imuBias::ConstantBias biasExpected = imuBias::ConstantBias(delta);
+	EXPECT(assert_equal(biasExpected, biasActual));
+}
+
+/* ************************************************************************* */
+TEST( ImuBias, operatorSub)
+{
+	imuBias::ConstantBias biasActual = -bias1;
+	imuBias::ConstantBias biasExpected(-biasAcc1, -biasGyro1);
+	EXPECT(assert_equal(biasExpected, biasActual));
+}
+
+/* ************************************************************************* */
+TEST( ImuBias, operatorAdd)
+{
+	imuBias::ConstantBias biasActual = bias2 + bias1;
+	imuBias::ConstantBias biasExpected(biasAcc2 + biasAcc1, biasGyro2 + biasGyro1);
+	EXPECT(assert_equal(biasExpected, biasActual));
+}
+
+/* ************************************************************************* */
+TEST( ImuBias, operatorSubB)
+{
+	imuBias::ConstantBias biasActual = bias2 - bias1;
+	imuBias::ConstantBias biasExpected(biasAcc2 - biasAcc1, biasGyro2 - biasGyro1);
+	EXPECT(assert_equal(biasExpected, biasActual));}
+
 /* ************************************************************************* */
   int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
 /* ************************************************************************* */