diff --git a/src/processor_motion.cpp b/src/processor_motion.cpp
index 5457b42b93394b99cd1f2646b3fff451f7079919..d9594cd758314674ffa736cc8965afea3da6006c 100644
--- a/src/processor_motion.cpp
+++ b/src/processor_motion.cpp
@@ -26,7 +26,7 @@ ProcessorMotion::ProcessorMotion(const std::string& _type,
         delta_cov_(_delta_cov_size, _delta_cov_size),
         delta_integrated_(_delta_size),
         delta_integrated_cov_(_delta_cov_size, _delta_cov_size),
-        calib_(_calib_size),
+        calib_preint_(_calib_size),
         jacobian_delta_preint_(delta_cov_size_, delta_cov_size_),
         jacobian_delta_(delta_cov_size_, delta_cov_size_),
         jacobian_calib_(delta_size_, calib_size_)
@@ -387,12 +387,12 @@ void ProcessorMotion::integrateOneStep()
     assert(dt_ >= 0 && "Time interval _dt is negative!");
 
     // get vector of parameters to calibrate
-    calib_ = getBuffer().getCalibrationPreint();
+    calib_preint_ = getBuffer().getCalibrationPreint();
 
     // get data and convert it to delta, and obtain also the delta covariance
     computeCurrentDelta(incoming_ptr_->getData(),
                         incoming_ptr_->getDataCovariance(),
-                        calib_,
+                        calib_preint_,
                         dt_,
                         delta_,
                         delta_cov_,
diff --git a/src/processor_motion.h b/src/processor_motion.h
index a9e9b977146270d67e98a78ac4fc97b956ff79d6..e399bddcce6562e265d540c9e5699cd8e7f64193 100644
--- a/src/processor_motion.h
+++ b/src/processor_motion.h
@@ -471,7 +471,7 @@ class ProcessorMotion : public ProcessorBase
         Eigen::MatrixXs delta_cov_;             ///< current delta covariance
         Eigen::VectorXs delta_integrated_;      ///< integrated delta
         Eigen::MatrixXs delta_integrated_cov_;  ///< integrated delta covariance
-        Eigen::VectorXs calib_;                 ///< calibration vector
+        Eigen::VectorXs calib_preint_;          ///< calibration vector used during pre-integration
         Eigen::MatrixXs jacobian_delta_preint_; ///< jacobian of delta composition w.r.t previous delta integrated
         Eigen::MatrixXs jacobian_delta_;        ///< jacobian of delta composition w.r.t current delta
         Eigen::MatrixXs jacobian_calib_;        ///< jacobian of delta preintegration wrt calibration params