diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java
index ddb2973655..7e5aa6ea55 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java
@@ -138,7 +138,7 @@ public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Output
         NumericalJacobian.numericalJacobianX(
             outputs, states, h, m_xHat, new Matrix<>(inputs, Nat.N1()));
 
-    final var discPair = Discretization.discretizeAQTaylor(contA, m_contQ, dtSeconds);
+    final var discPair = Discretization.discretizeAQ(contA, m_contQ, dtSeconds);
     final var discA = discPair.getFirst();
     final var discQ = discPair.getSecond();
 
@@ -259,7 +259,7 @@ public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Output
     final var contA = NumericalJacobian.numericalJacobianX(m_states, m_states, f, m_xHat, u);
 
     // Find discrete A and Q
-    final var discPair = Discretization.discretizeAQTaylor(contA, m_contQ, dtSeconds);
+    final var discPair = Discretization.discretizeAQ(contA, m_contQ, dtSeconds);
     final var discA = discPair.getFirst();
     final var discQ = discPair.getSecond();
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java
index 94bb159fd3..faaacd83f8 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java
@@ -65,7 +65,7 @@ public class KalmanFilter<States extends Num, Inputs extends Num, Outputs extend
     var contQ = StateSpaceUtil.makeCovarianceMatrix(states, stateStdDevs);
     var contR = StateSpaceUtil.makeCovarianceMatrix(outputs, measurementStdDevs);
 
-    var pair = Discretization.discretizeAQTaylor(plant.getA(), contQ, dtSeconds);
+    var pair = Discretization.discretizeAQ(plant.getA(), contQ, dtSeconds);
     var discA = pair.getFirst();
     var discQ = pair.getSecond();
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java
index d66856455a..a07704c5b4 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java
@@ -331,7 +331,7 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outpu
     // Discretize Q before projecting mean and covariance forward
     Matrix<States, States> contA =
         NumericalJacobian.numericalJacobianX(m_states, m_states, m_f, m_xHat, u);
-    var discQ = Discretization.discretizeAQTaylor(contA, m_contQ, dtSeconds).getSecond();
+    var discQ = Discretization.discretizeAQ(contA, m_contQ, dtSeconds).getSecond();
     var squareRootDiscQ = discQ.lltDecompose(true);
 
     var sigmas = m_pts.squareRootSigmaPoints(m_xHat, m_S);
diff --git a/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.inc b/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.inc
index a0a0e100e0..ede7aafa3d 100644
--- a/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.inc
+++ b/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.inc
@@ -36,7 +36,7 @@ ExtendedKalmanFilter<States, Inputs, Outputs>::ExtendedKalmanFilter(
 
   StateMatrix discA;
   StateMatrix discQ;
-  DiscretizeAQTaylor<States>(contA, m_contQ, dt, &discA, &discQ);
+  DiscretizeAQ<States>(contA, m_contQ, dt, &discA, &discQ);
 
   Matrixd<Outputs, Outputs> discR = DiscretizeR<Outputs>(m_contR, dt);
 
@@ -71,7 +71,7 @@ ExtendedKalmanFilter<States, Inputs, Outputs>::ExtendedKalmanFilter(
 
   StateMatrix discA;
   StateMatrix discQ;
-  DiscretizeAQTaylor<States>(contA, m_contQ, dt, &discA, &discQ);
+  DiscretizeAQ<States>(contA, m_contQ, dt, &discA, &discQ);
 
   Matrixd<Outputs, Outputs> discR = DiscretizeR<Outputs>(m_contR, dt);
 
@@ -93,7 +93,7 @@ void ExtendedKalmanFilter<States, Inputs, Outputs>::Predict(
   // Find discrete A and Q
   StateMatrix discA;
   StateMatrix discQ;
-  DiscretizeAQTaylor<States>(contA, m_contQ, dt, &discA, &discQ);
+  DiscretizeAQ<States>(contA, m_contQ, dt, &discA, &discQ);
 
   m_xHat = RK4(m_f, m_xHat, u, dt);
 
diff --git a/wpimath/src/main/native/include/frc/estimator/KalmanFilter.inc b/wpimath/src/main/native/include/frc/estimator/KalmanFilter.inc
index ba266934ed..bc61d32883 100644
--- a/wpimath/src/main/native/include/frc/estimator/KalmanFilter.inc
+++ b/wpimath/src/main/native/include/frc/estimator/KalmanFilter.inc
@@ -31,7 +31,7 @@ KalmanFilter<States, Inputs, Outputs>::KalmanFilter(
 
   Matrixd<States, States> discA;
   Matrixd<States, States> discQ;
-  DiscretizeAQTaylor<States>(plant.A(), contQ, dt, &discA, &discQ);
+  DiscretizeAQ<States>(plant.A(), contQ, dt, &discA, &discQ);
 
   auto discR = DiscretizeR<Outputs>(contR, dt);
 
diff --git a/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.inc b/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.inc
index a6744bf61b..5b9803d64b 100644
--- a/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.inc
+++ b/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.inc
@@ -76,7 +76,7 @@ void UnscentedKalmanFilter<States, Inputs, Outputs>::Predict(
       NumericalJacobianX<States, States, Inputs>(m_f, m_xHat, u);
   StateMatrix discA;
   StateMatrix discQ;
-  DiscretizeAQTaylor<States>(contA, m_contQ, m_dt, &discA, &discQ);
+  DiscretizeAQ<States>(contA, m_contQ, m_dt, &discA, &discQ);
   Eigen::internal::llt_inplace<double, Eigen::Lower>::blocked(discQ);
 
   Matrixd<States, 2 * States + 1> sigmas =