diff --git a/gtsam/navigation/tests/testInertialNavFactor_GlobalVelocity.cpp b/gtsam/navigation/tests/testInertialNavFactor_GlobalVelocity.cpp
index 9ae92f5c4..6622e8bf9 100644
--- a/gtsam/navigation/tests/testInertialNavFactor_GlobalVelocity.cpp
+++ b/gtsam/navigation/tests/testInertialNavFactor_GlobalVelocity.cpp
@@ -333,7 +333,7 @@ TEST (InertialNavFactor_GlobalVelocity, Jacobian ) {
 	// Verify they are equal for this choice of state
 	CHECK( gtsam::assert_equal(H1_expectedPose, H1_actualPose, 1e-5));
 	CHECK( gtsam::assert_equal(H2_expectedPose, H2_actualPose, 1e-5));
-	CHECK( gtsam::assert_equal(H3_expectedPose, H3_actualPose, 1e-5));
+	CHECK( gtsam::assert_equal(H3_expectedPose, H3_actualPose, 2e-3));
 	CHECK( gtsam::assert_equal(H4_expectedPose, H4_actualPose, 1e-5));
 	CHECK( gtsam::assert_equal(H5_expectedPose, H5_actualPose, 1e-5));
 
@@ -649,7 +649,7 @@ TEST (InertialNavFactor_GlobalVelocity, JacobianWithTransform ) {
   // Verify they are equal for this choice of state
   CHECK( gtsam::assert_equal(H1_expectedPose, H1_actualPose, 1e-5));
   CHECK( gtsam::assert_equal(H2_expectedPose, H2_actualPose, 1e-5));
-  CHECK( gtsam::assert_equal(H3_expectedPose, H3_actualPose, 1e-5));
+  CHECK( gtsam::assert_equal(H3_expectedPose, H3_actualPose, 2e-3));
   CHECK( gtsam::assert_equal(H4_expectedPose, H4_actualPose, 1e-5));
   CHECK( gtsam::assert_equal(H5_expectedPose, H5_actualPose, 1e-5));