diff --git a/include/imu/processor/processor_imu.h b/include/imu/processor/processor_imu.h
index fe9d4af4bccec08861a4412b187190b24c20521a..c3842613af95fb619bbc30ef64b26333b1e2037e 100644
--- a/include/imu/processor/processor_imu.h
+++ b/include/imu/processor/processor_imu.h
@@ -98,8 +98,6 @@ class ProcessorImu : public ProcessorMotion{
 
     protected:
         ParamsProcessorImuPtr params_motion_Imu_;
-        Eigen::Matrix<double, 9, 9> unmeasured_perturbation_cov_;
-
 };
 
 }
diff --git a/include/imu/processor/processor_imu2d.h b/include/imu/processor/processor_imu2d.h
index 7942d0663b72367678314f6c6030fd3bc223ea51..7b1c4de31f45a2d9d040687f4f895746c1a61bcf 100644
--- a/include/imu/processor/processor_imu2d.h
+++ b/include/imu/processor/processor_imu2d.h
@@ -98,8 +98,6 @@ class ProcessorImu2d : public ProcessorMotion{
 
     protected:
         ParamsProcessorImu2dPtr params_motion_Imu_;
-        Eigen::Matrix<double, 5, 5> unmeasured_perturbation_cov_;
-
 };
 
 }
diff --git a/src/processor/processor_imu.cpp b/src/processor/processor_imu.cpp
index d9e7045d8cfe6ee470733fdaaa817bf5940fbbc9..d22c2366e6f121f7e6649c2affceb0a21734c997 100644
--- a/src/processor/processor_imu.cpp
+++ b/src/processor/processor_imu.cpp
@@ -33,11 +33,7 @@ ProcessorImu::ProcessorImu(ParamsProcessorImuPtr _params_motion_imu) :
         ProcessorMotion("ProcessorImu", "POV", 3, 10, 10, 9, 6, 6, _params_motion_imu),
         params_motion_Imu_(std::make_shared<ParamsProcessorImu>(*_params_motion_imu))
 {
-    // Set constant parts of Jacobians
-    jacobian_delta_preint_.setIdentity(9,9);                                    // dDp'/dDp, dDv'/dDv, all zeros
-    jacobian_delta_.setIdentity(9,9);                                           //
-    jacobian_calib_.setZero(9,6);
-    unmeasured_perturbation_cov_ = pow(params_motion_Imu_->unmeasured_perturbation_std, 2.0) * Eigen::Matrix<double, 9, 9>::Identity();
+    //
 }
 
 ProcessorImu::~ProcessorImu()
diff --git a/src/processor/processor_imu2d.cpp b/src/processor/processor_imu2d.cpp
index 49c40a452eccfde87d18de226ec420cb18a75b84..d5ad653001b1645940713d5cff7a0307a68999c4 100644
--- a/src/processor/processor_imu2d.cpp
+++ b/src/processor/processor_imu2d.cpp
@@ -33,11 +33,7 @@ namespace wolf {
     ProcessorMotion("ProcessorImu2d", "POV", 2, 5, 5, 5, 6, 3, _params_motion_imu),
     params_motion_Imu_(std::make_shared<ParamsProcessorImu2d>(*_params_motion_imu))
   {
-    // Set constant parts of Jacobians
-    jacobian_delta_preint_.setIdentity(5,5);                                    // dDp'/dDp, dDv'/dDv, all zeros
-    jacobian_delta_.setIdentity(5,5);                                           //
-    jacobian_calib_.setZero(5,3);
-    unmeasured_perturbation_cov_ = pow(params_motion_Imu_->unmeasured_perturbation_std, 2.0) * Eigen::Matrix<double, 5, 5>::Identity();
+      //
   }
 
   ProcessorImu2d::~ProcessorImu2d()