diff --git a/gtsam/slam/GPSFactor.h b/gtsam/slam/BiasedGPSFactor.h
similarity index 87%
rename from gtsam/slam/GPSFactor.h
rename to gtsam/slam/BiasedGPSFactor.h
index 9add83be0..fc525f52a 100644
--- a/gtsam/slam/GPSFactor.h
+++ b/gtsam/slam/BiasedGPSFactor.h
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- *  @file  GPSFactor.h
+ *  @file  BiasedGPSFactor.h
  *  @author Luca Carlone
  **/
 #pragma once
@@ -27,11 +27,11 @@ namespace gtsam {
    * common-mode errors and that can be partially corrected if other sensors are used
    * @addtogroup SLAM
    */
-  class GPSFactor: public NoiseModelFactor2<Pose3, Point3> {
+  class BiasedGPSFactor: public NoiseModelFactor2<Pose3, Point3> {
 
   private:
 
-    typedef GPSFactor This;
+    typedef BiasedGPSFactor This;
     typedef NoiseModelFactor2<Pose3, Point3> Base;
 
     Point3 measured_; /** The measurement */
@@ -39,24 +39,24 @@ namespace gtsam {
   public:
 
     // shorthand for a smart pointer to a factor
-    typedef typename boost::shared_ptr<GPSFactor> shared_ptr;
+    typedef typename boost::shared_ptr<BiasedGPSFactor> shared_ptr;
 
     /** default constructor - only use for serialization */
-    GPSFactor() {}
+    BiasedGPSFactor() {}
 
     /** Constructor */
-    GPSFactor(Key posekey, Key biaskey, const Point3 measured,
+    BiasedGPSFactor(Key posekey, Key biaskey, const Point3 measured,
         const SharedNoiseModel& model) :
       Base(model, posekey, biaskey), measured_(measured) {
     }
 
-    virtual ~GPSFactor() {}
+    virtual ~BiasedGPSFactor() {}
 
     /** implement functions needed for Testable */
 
     /** print */
     virtual void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
-      std::cout << s << "GPSFactor("
+      std::cout << s << "BiasedGPSFactor("
           << keyFormatter(this->key1()) << ","
           << keyFormatter(this->key2()) << ")\n";
       measured_.print("  measured: ");
@@ -100,6 +100,6 @@ namespace gtsam {
           boost::serialization::base_object<Base>(*this));
       ar & BOOST_SERIALIZATION_NVP(measured_);
     }
-  }; // \class GPSFactor
+  }; // \class BiasedGPSFactor
 
 } /// namespace gtsam
diff --git a/gtsam/slam/tests/testGPSFactor.cpp b/gtsam/slam/tests/testBiasedGPSFactor.cpp
similarity index 78%
rename from gtsam/slam/tests/testGPSFactor.cpp
rename to gtsam/slam/tests/testBiasedGPSFactor.cpp
index f501183b3..d907852c5 100644
--- a/gtsam/slam/tests/testGPSFactor.cpp
+++ b/gtsam/slam/tests/testBiasedGPSFactor.cpp
@@ -1,5 +1,5 @@
 /**
- * @file    testGPSFactor.cpp
+ * @file    testBiasedGPSFactor.cpp
  * @brief  
  * @author Luca Carlone
  * @date   July 30, 2014
@@ -8,7 +8,7 @@
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/geometry/Pose3.h>
 #include <gtsam/inference/Symbol.h>
-#include <gtsam/slam/GPSFactor.h>
+#include <gtsam/slam/BiasedGPSFactor.h>
 #include <CppUnitLite/TestHarness.h>
 
 using namespace gtsam;
@@ -19,7 +19,7 @@ using namespace gtsam::noiseModel;
 using symbol_shorthand::X;
 using symbol_shorthand::B;
 
-TEST(GPSFactor, errorNoiseless) {
+TEST(BiasedGPSFactor, errorNoiseless) {
 
   Rot3 R = Rot3::rodriguez(0.1, 0.2, 0.3);
   Point3 t(1.0, 0.5, 0.2);
@@ -28,13 +28,13 @@ TEST(GPSFactor, errorNoiseless) {
   Point3 noise(0.0,0.0,0.0);
   Point3 measured = t + noise;
 
-  GPSFactor factor(X(1), B(1), measured, Isotropic::Sigma(3, 0.05));
+  BiasedGPSFactor factor(X(1), B(1), measured, Isotropic::Sigma(3, 0.05));
   Vector expectedError = (Vector(3) << 0.0, 0.0, 0.0 );
   Vector actualError = factor.evaluateError(pose,bias);
   EXPECT(assert_equal(expectedError,actualError, 1E-5));
 }
 
-TEST(GPSFactor, errorNoisy) {
+TEST(BiasedGPSFactor, errorNoisy) {
 
   Rot3 R = Rot3::rodriguez(0.1, 0.2, 0.3);
   Point3 t(1.0, 0.5, 0.2);
@@ -43,13 +43,13 @@ TEST(GPSFactor, errorNoisy) {
   Point3 noise(1.0,2.0,3.0);
   Point3 measured = t - noise;
 
-  GPSFactor factor(X(1), B(1), measured, Isotropic::Sigma(3, 0.05));
+  BiasedGPSFactor factor(X(1), B(1), measured, Isotropic::Sigma(3, 0.05));
   Vector expectedError = (Vector(3) << 1.0, 2.0, 3.0 );
   Vector actualError = factor.evaluateError(pose,bias);
   EXPECT(assert_equal(expectedError,actualError, 1E-5));
 }
 
-TEST(GPSFactor, jacobian) {
+TEST(BiasedGPSFactor, jacobian) {
 
   Rot3 R = Rot3::rodriguez(0.1, 0.2, 0.3);
   Point3 t(1.0, 0.5, 0.2);
@@ -59,20 +59,20 @@ TEST(GPSFactor, jacobian) {
   Point3 noise(0.0,0.0,0.0);
   Point3 measured = t + noise;
 
-  GPSFactor factor(X(1), B(1), measured, Isotropic::Sigma(3, 0.05));
+  BiasedGPSFactor factor(X(1), B(1), measured, Isotropic::Sigma(3, 0.05));
 
   Matrix actualH1, actualH2;
   factor.evaluateError(pose,bias, actualH1, actualH2);
 
   Matrix numericalH1 = numericalDerivative21(
       boost::function<Vector(const Pose3&, const Point3&)>(boost::bind(
-          &GPSFactor::evaluateError, factor, _1, _2, boost::none,
+          &BiasedGPSFactor::evaluateError, factor, _1, _2, boost::none,
           boost::none)), pose, bias, 1e-5);
   EXPECT(assert_equal(numericalH1,actualH1, 1E-5));
 
   Matrix numericalH2 = numericalDerivative22(
       boost::function<Vector(const Pose3&, const Point3&)>(boost::bind(
-          &GPSFactor::evaluateError, factor, _1, _2, boost::none,
+          &BiasedGPSFactor::evaluateError, factor, _1, _2, boost::none,
           boost::none)), pose, bias, 1e-5);
   EXPECT(assert_equal(numericalH2,actualH2, 1E-5));
 }