diff --git a/src/imuPreintegration.cpp b/src/imuPreintegration.cpp
index 3b696342..5273f7fe 100644
--- a/src/imuPreintegration.cpp
+++ b/src/imuPreintegration.cpp
@@ -218,7 +218,7 @@ class IMUPreintegration : public ParamServer
         priorPoseNoise  = gtsam::noiseModel::Diagonal::Sigmas((gtsam::Vector(6) << 1e-2, 1e-2, 1e-2, 1e-2, 1e-2, 1e-2).finished()); // rad,rad,rad,m, m, m
         priorVelNoise   = gtsam::noiseModel::Isotropic::Sigma(3, 1e4); // m/s
         priorBiasNoise  = gtsam::noiseModel::Isotropic::Sigma(6, 1e-3); // 1e-2 ~ 1e-3 seems to be good
-        correctionNoise = gtsam::noiseModel::Diagonal::Sigmas((gtsam::Vector(6) << 1e-2, 1e-2, 1e-2, 1e-2, 1e-2, 1e-2).finished()); // rad,rad,rad,m, m, m
+        correctionNoise = gtsam::noiseModel::Diagonal::Sigmas((gtsam::Vector(6) << 0.05, 0.05, 0.05, 0.1, 0.1, 0.1).finished()); // rad,rad,rad,m, m, m
         correctionNoise2 = gtsam::noiseModel::Diagonal::Sigmas((gtsam::Vector(6) << 1, 1, 1, 1, 1, 1).finished()); // rad,rad,rad,m, m, m
         noiseModelBetweenBias = (gtsam::Vector(6) << imuAccBiasN, imuAccBiasN, imuAccBiasN, imuGyrBiasN, imuGyrBiasN, imuGyrBiasN).finished();