diff --git a/src/algorithms/tracking/libs/CMakeLists.txt b/src/algorithms/tracking/libs/CMakeLists.txt
index fb816d0d8..80948c7e3 100644
--- a/src/algorithms/tracking/libs/CMakeLists.txt
+++ b/src/algorithms/tracking/libs/CMakeLists.txt
@@ -33,7 +33,7 @@ set(TRACKING_LIB_SOURCES
     cpu_multicorrelator.cc
     cpu_multicorrelator_real_codes.cc
     cpu_multicorrelator_16sc.cc
-    cubature_filter.cc
+    nonlinear_tracking.cc
     lock_detectors.cc
     tcp_communication.cc
     tcp_packet_data.cc
@@ -51,7 +51,7 @@ set(TRACKING_LIB_HEADERS
     cpu_multicorrelator.h
     cpu_multicorrelator_real_codes.h
     cpu_multicorrelator_16sc.h
-    cubature_filter.h
+    nonlinear_tracking.h
     lock_detectors.h
     tcp_communication.h
     tcp_packet_data.h
diff --git a/src/algorithms/tracking/libs/cubature_filter.cc b/src/algorithms/tracking/libs/nonlinear_tracking.cc
similarity index 100%
rename from src/algorithms/tracking/libs/cubature_filter.cc
rename to src/algorithms/tracking/libs/nonlinear_tracking.cc
diff --git a/src/algorithms/tracking/libs/cubature_filter.h b/src/algorithms/tracking/libs/nonlinear_tracking.h
similarity index 100%
rename from src/algorithms/tracking/libs/cubature_filter.h
rename to src/algorithms/tracking/libs/nonlinear_tracking.h
diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc
index a86d5dd7c..7b4a77938 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc
@@ -28,12 +28,13 @@
  * -------------------------------------------------------------------------
  */
 
-#include "cubature_filter.h"
+#include "nonlinear_tracking.h"
 #include <armadillo>
 #include <gtest/gtest.h>
 #include <random>
 
 #define CUBATURE_TEST_N_TRIALS 1000
+#define CUBATURE_TEST_TOLERANCE 0.01
 
 class Transition_Model : public Model_Function {
     public:
@@ -123,8 +124,8 @@ TEST(CubatureFilterComputationTest, CubatureFilterTest)
             kf_x_pre = kf_F * kf_x_post;
             kf_P_x_pre = kf_F * kf_P_x_post * kf_F.t() + kf_Q;
 
-            EXPECT_TRUE(arma::approx_equal(ckf_x_pre, kf_x_pre, "absdiff", 0.01));
-            EXPECT_TRUE(arma::approx_equal(ckf_P_x_pre, kf_P_x_pre, "absdiff", 0.01));
+            EXPECT_TRUE(arma::approx_equal(ckf_x_pre, kf_x_pre, "absdiff", CUBATURE_TEST_TOLERANCE));
+            EXPECT_TRUE(arma::approx_equal(ckf_P_x_pre, kf_P_x_pre, "absdiff", CUBATURE_TEST_TOLERANCE));
 
             // Update Step
             kf_H = arma::randu<arma::mat>(ny,nx);
@@ -147,8 +148,8 @@ TEST(CubatureFilterComputationTest, CubatureFilterTest)
             kf_x_post = kf_x_pre + kf_K * (kf_y - kf_H * kf_x_pre);
             kf_P_x_post = (arma::eye(nx,nx) - kf_K * kf_H) * kf_P_x_pre;
 
-            EXPECT_TRUE(arma::approx_equal(ckf_x_post, kf_x_post, "absdiff", 0.01));
-            EXPECT_TRUE(arma::approx_equal(ckf_P_x_post, kf_P_x_post, "absdiff", 0.01));
+            EXPECT_TRUE(arma::approx_equal(ckf_x_post, kf_x_post, "absdiff", CUBATURE_TEST_TOLERANCE));
+            EXPECT_TRUE(arma::approx_equal(ckf_P_x_post, kf_P_x_post, "absdiff", CUBATURE_TEST_TOLERANCE));
 
             delete transition_function;
             delete measurement_function;