diff --git a/Cargo.toml b/Cargo.toml
index 7ca1d14..76db560 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -27,14 +27,14 @@ std = ["nalgebra/std"]
 no_std = ["nalgebra/libm", "dep:num-traits"]
 
 [dependencies]
-nalgebra = { version = "0.32.3", default-features = false }
+nalgebra = { version = "0.33.0", default-features = false }
 num-traits = { version = "0.2.17", optional = true, default-features = false, features = [
     "libm",
 ] }
 
 [dev-dependencies]
 approx = "0.5.0"
-nalgebra = { version = "0.32", features = ["serde-serialize", "debug"] }
+nalgebra = { version = "0.33.0", features = ["serde-serialize", "debug"] }
 serde = { version = "1.0", features = ["derive"] }
 serde_json = "1.0"
 plotly = "0.6.0"
diff --git a/src/lib.rs b/src/lib.rs
index 4609724..1b783f9 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -334,10 +334,7 @@ impl ESKF {
         variance: OMatrix<f32, R, R>,
     ) -> Result<()>
     where
-        DefaultAllocator: Allocator<f32, R>
-            + Allocator<f32, R, R>
-            + Allocator<f32, R, U18>
-            + Allocator<f32, U18, R>,
+        DefaultAllocator: Allocator<R> + Allocator<R, R> + Allocator<R, U18> + Allocator<U18, R>,
     {
         // Correct filter based on Kalman gain
         let kalman_gain = self.covariance