diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt
index d24a654f32..f65a5f1e28 100644
--- a/src/modules/ekf2/CMakeLists.txt
+++ b/src/modules/ekf2/CMakeLists.txt
@@ -116,7 +116,6 @@ endif()
 set(EKF_LIBS)
 set(EKF_SRCS)
 list(APPEND EKF_SRCS
-	EKF/bias_estimator.cpp
 	EKF/control.cpp
 	EKF/covariance.cpp
 	EKF/ekf.cpp
@@ -259,6 +258,7 @@ px4_add_module(
 		world_magnetic_model
 
 		${EKF_LIBS}
+		bias_estimator
 		output_predictor
 	UNITY_BUILD
 	)
diff --git a/src/modules/ekf2/EKF/CMakeLists.txt b/src/modules/ekf2/EKF/CMakeLists.txt
index a98eaedcae..1680967dfc 100644
--- a/src/modules/ekf2/EKF/CMakeLists.txt
+++ b/src/modules/ekf2/EKF/CMakeLists.txt
@@ -31,12 +31,12 @@
 #
 ############################################################################
 
+add_subdirectory(bias_estimator)
 add_subdirectory(output_predictor)
 
 set(EKF_LIBS)
 set(EKF_SRCS)
 list(APPEND EKF_SRCS
-	bias_estimator.cpp
 	control.cpp
 	covariance.cpp
 	ekf.cpp
@@ -147,6 +147,7 @@ target_include_directories(ecl_EKF PUBLIC ${EKF_GENERATED_DERIVATION_INCLUDE_PAT
 
 target_link_libraries(ecl_EKF
 	PRIVATE
+		bias_estimator
 		geo
 		output_predictor
 		world_magnetic_model
diff --git a/src/modules/ekf2/EKF/bias_estimator/CMakeLists.txt b/src/modules/ekf2/EKF/bias_estimator/CMakeLists.txt
new file mode 100644
index 0000000000..b2346919e1
--- /dev/null
+++ b/src/modules/ekf2/EKF/bias_estimator/CMakeLists.txt
@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_library(bias_estimator
+	bias_estimator.cpp
+	bias_estimator.hpp
+	height_bias_estimator.hpp
+	position_bias_estimator.hpp
+)
+
+add_dependencies(bias_estimator prebuild_targets)
diff --git a/src/modules/ekf2/EKF/bias_estimator.cpp b/src/modules/ekf2/EKF/bias_estimator/bias_estimator.cpp
similarity index 100%
rename from src/modules/ekf2/EKF/bias_estimator.cpp
rename to src/modules/ekf2/EKF/bias_estimator/bias_estimator.cpp
diff --git a/src/modules/ekf2/EKF/bias_estimator.hpp b/src/modules/ekf2/EKF/bias_estimator/bias_estimator.hpp
similarity index 100%
rename from src/modules/ekf2/EKF/bias_estimator.hpp
rename to src/modules/ekf2/EKF/bias_estimator/bias_estimator.hpp
diff --git a/src/modules/ekf2/EKF/height_bias_estimator.hpp b/src/modules/ekf2/EKF/bias_estimator/height_bias_estimator.hpp
similarity index 99%
rename from src/modules/ekf2/EKF/height_bias_estimator.hpp
rename to src/modules/ekf2/EKF/bias_estimator/height_bias_estimator.hpp
index 5cb03cbfdd..9fe1ee7dac 100644
--- a/src/modules/ekf2/EKF/height_bias_estimator.hpp
+++ b/src/modules/ekf2/EKF/bias_estimator/height_bias_estimator.hpp
@@ -39,7 +39,7 @@
 #define EKF_HEIGHT_BIAS_ESTIMATOR_HPP
 
 #include "bias_estimator.hpp"
-#include "common.h"
+#include "../common.h"
 
 class HeightBiasEstimator: public BiasEstimator
 {
diff --git a/src/modules/ekf2/EKF/position_bias_estimator.hpp b/src/modules/ekf2/EKF/bias_estimator/position_bias_estimator.hpp
similarity index 99%
rename from src/modules/ekf2/EKF/position_bias_estimator.hpp
rename to src/modules/ekf2/EKF/bias_estimator/position_bias_estimator.hpp
index 0cba8fcd99..629bb538a1 100644
--- a/src/modules/ekf2/EKF/position_bias_estimator.hpp
+++ b/src/modules/ekf2/EKF/bias_estimator/position_bias_estimator.hpp
@@ -39,7 +39,6 @@
 #define EKF_POSITION_BIAS_ESTIMATOR_HPP
 
 #include "bias_estimator.hpp"
-#include "common.h"
 
 class PositionBiasEstimator
 {
diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h
index 1afdd559a4..3aca5c93c7 100644
--- a/src/modules/ekf2/EKF/ekf.h
+++ b/src/modules/ekf2/EKF/ekf.h
@@ -49,9 +49,9 @@
 # include "yaw_estimator/EKFGSF_yaw.h"
 #endif // CONFIG_EKF2_GNSS
 
-#include "bias_estimator.hpp"
-#include "height_bias_estimator.hpp"
-#include "position_bias_estimator.hpp"
+#include "bias_estimator/bias_estimator.hpp"
+#include "bias_estimator/height_bias_estimator.hpp"
+#include "bias_estimator/position_bias_estimator.hpp"
 
 #include <ekf_derivation/generated/state.h>