diff --git a/src/test/gtest_processorIMU_jacobians.cpp b/src/test/gtest_processorIMU_jacobians.cpp
index d2f4ed4a1b1e9bc3091bb341d18c8f505229706a..7ec522d9c512e72982425e845361f75d5157421a 100644
--- a/src/test/gtest_processorIMU_jacobians.cpp
+++ b/src/test/gtest_processorIMU_jacobians.cpp
@@ -158,6 +158,21 @@ TEST_F(ProcessorIMU_jacobians_bias, dDv_dwb_)
      "\ndDv_dwb_a - dDv_dwb_ : \n" << bias_jac.dDv_dwb_ - dDv_dwb << std::endl;
 }
 
+TEST_F(ProcessorIMU_jacobians_bias, dDq_dab)
+{
+    using namespace wolf;
+    Eigen::Map<Eigen::Quaternions> q_in_1(NULL), q_in_2(NULL);
+    Eigen::Matrix3s dDq_dab;
+
+    new (&q_in_1) Eigen::Map<Eigen::Quaternions>(bias_jac.Delta0_.data() + 3);
+    for(int i=0;i<3;i++){
+        new (&q_in_2) Eigen::Map<Eigen::Quaternions>(bias_jac.Deltas_noisy_vect_(i).data() + 3);
+        dDq_dab.block<3,1>(0,i) = R2v( q_in_1.matrix().transpose() * q_in_2.matrix())/ddelta_bias;
+    }
+
+    EXPECT_TRUE(dDq_dab.isZero(wolf::Constants::EPS)) << "\t\tdDq_dab_ jacobian is not Zero :" << dDq_dab << std::endl;
+}
+
 int main(int argc, char **argv)
 {
     using namespace wolf;