diff --git a/gtsam/navigation/navigation.i b/gtsam/navigation/navigation.i
index aad6f9851..db47baa75 100644
--- a/gtsam/navigation/navigation.i
+++ b/gtsam/navigation/navigation.i
@@ -10,7 +10,7 @@ namespace imuBias {
 class ConstantBias {
   // Constructors
   ConstantBias();
-  ConstantBias(Vector biasAcc, Vector biasGyro);
+  ConstantBias(gtsam::Vector biasAcc, gtsam::Vector biasGyro);
 
   // Testable
   void print(string s = "") const;
@@ -25,11 +25,11 @@ class ConstantBias {
   gtsam::imuBias::ConstantBias operator-(const gtsam::imuBias::ConstantBias& b) const;
 
   // Standard Interface
-  Vector vector() const;
-  Vector accelerometer() const;
-  Vector gyroscope() const;
-  Vector correctAccelerometer(Vector measurement) const;
-  Vector correctGyroscope(Vector measurement) const;
+  gtsam::Vector vector() const;
+  gtsam::Vector accelerometer() const;
+  gtsam::Vector gyroscope() const;
+  gtsam::Vector correctAccelerometer(gtsam::Vector measurement) const;
+  gtsam::Vector correctGyroscope(gtsam::Vector measurement) const;
 
   // enabling serialization functionality
   void serialize() const;
@@ -41,8 +41,8 @@ class ConstantBias {
 class NavState {
   // Constructors
   NavState();
-  NavState(const gtsam::Rot3& R, const gtsam::Point3& t, Vector v);
-  NavState(const gtsam::Pose3& pose, Vector v);
+  NavState(const gtsam::Rot3& R, const gtsam::Point3& t, gtsam::Vector v);
+  NavState(const gtsam::Pose3& pose, gtsam::Vector v);
 
   // Testable
   void print(string s = "") const;
@@ -51,11 +51,11 @@ class NavState {
   // Access
   gtsam::Rot3 attitude() const;
   gtsam::Point3 position() const;
-  Vector velocity() const;
+  gtsam::Vector velocity() const;
   gtsam::Pose3 pose() const;
 
-  gtsam::NavState retract(const Vector& x) const;
-  Vector localCoordinates(const gtsam::NavState& g) const;
+  gtsam::NavState retract(const gtsam::Vector& x) const;
+  gtsam::Vector localCoordinates(const gtsam::NavState& g) const;
 
   // enabling serialization functionality
   void serialize() const;
@@ -69,19 +69,19 @@ virtual class PreintegratedRotationParams {
   void print(string s = "") const;
   bool equals(const gtsam::PreintegratedRotationParams& expected, double tol);
 
-  void setGyroscopeCovariance(Matrix cov);
-  void setOmegaCoriolis(Vector omega);
+  void setGyroscopeCovariance(gtsam::Matrix cov);
+  void setOmegaCoriolis(gtsam::Vector omega);
   void setBodyPSensor(const gtsam::Pose3& pose);
 
-  Matrix getGyroscopeCovariance() const;
+  gtsam::Matrix getGyroscopeCovariance() const;
 
-  std::optional<Vector> getOmegaCoriolis() const;
+  std::optional<gtsam::Vector> getOmegaCoriolis() const;
   std::optional<gtsam::Pose3> getBodyPSensor() const;
 };
 
 #include <gtsam/navigation/PreintegrationParams.h>
 virtual class PreintegrationParams : gtsam::PreintegratedRotationParams {
-  PreintegrationParams(Vector n_gravity);
+  PreintegrationParams(gtsam::Vector n_gravity);
 
   gtsam::Vector n_gravity;
 
@@ -94,12 +94,12 @@ virtual class PreintegrationParams : gtsam::PreintegratedRotationParams {
   void print(string s = "") const;
   bool equals(const gtsam::PreintegrationParams& expected, double tol);
 
-  void setAccelerometerCovariance(Matrix cov);
-  void setIntegrationCovariance(Matrix cov);
+  void setAccelerometerCovariance(gtsam::Matrix cov);
+  void setIntegrationCovariance(gtsam::Matrix cov);
   void setUse2ndOrderCoriolis(bool flag);
 
-  Matrix getAccelerometerCovariance() const;
-  Matrix getIntegrationCovariance()   const;
+  gtsam::Matrix getAccelerometerCovariance() const;
+  gtsam::Matrix getIntegrationCovariance()   const;
   bool   getUse2ndOrderCoriolis()     const;
 
   // enabling serialization functionality
@@ -118,19 +118,19 @@ class PreintegratedImuMeasurements {
   bool equals(const gtsam::PreintegratedImuMeasurements& expected, double tol);
 
   // Standard Interface
-  void integrateMeasurement(Vector measuredAcc, Vector measuredOmega,
+  void integrateMeasurement(gtsam::Vector measuredAcc, gtsam::Vector measuredOmega,
       double deltaT);
   void resetIntegration();
   void resetIntegrationAndSetBias(const gtsam::imuBias::ConstantBias& biasHat);
 
-  Matrix preintMeasCov() const;
-  Vector preintegrated() const;
+  gtsam::Matrix preintMeasCov() const;
+  gtsam::Vector preintegrated() const;
   double deltaTij() const;
   gtsam::Rot3 deltaRij() const;
-  Vector deltaPij() const;
-  Vector deltaVij() const;
+  gtsam::Vector deltaPij() const;
+  gtsam::Vector deltaVij() const;
   gtsam::imuBias::ConstantBias biasHat() const;
-  Vector biasHatVector() const;
+  gtsam::Vector biasHatVector() const;
   gtsam::NavState predict(const gtsam::NavState& state_i,
       const gtsam::imuBias::ConstantBias& bias) const;
 
@@ -145,14 +145,14 @@ virtual class ImuFactor: gtsam::NonlinearFactor {
 
   // Standard Interface
   gtsam::PreintegratedImuMeasurements preintegratedMeasurements() const;
-  Vector evaluateError(const gtsam::Pose3& pose_i, Vector vel_i,
-      const gtsam::Pose3& pose_j, Vector vel_j,
+  gtsam::Vector evaluateError(const gtsam::Pose3& pose_i, gtsam::Vector vel_i,
+      const gtsam::Pose3& pose_j, gtsam::Vector vel_j,
       const gtsam::imuBias::ConstantBias& bias);
 };
 
 #include <gtsam/navigation/CombinedImuFactor.h>
 virtual class PreintegrationCombinedParams : gtsam::PreintegrationParams {
-  PreintegrationCombinedParams(Vector n_gravity);
+  PreintegrationCombinedParams(gtsam::Vector n_gravity);
 
   static gtsam::PreintegrationCombinedParams* MakeSharedD(double g);
   static gtsam::PreintegrationCombinedParams* MakeSharedU(double g);
@@ -163,13 +163,13 @@ virtual class PreintegrationCombinedParams : gtsam::PreintegrationParams {
   void print(string s = "") const;
   bool equals(const gtsam::PreintegrationCombinedParams& expected, double tol);
 
-  void setBiasAccCovariance(Matrix cov);
-  void setBiasOmegaCovariance(Matrix cov);
-  void setBiasAccOmegaInit(Matrix cov);
+  void setBiasAccCovariance(gtsam::Matrix cov);
+  void setBiasOmegaCovariance(gtsam::Matrix cov);
+  void setBiasAccOmegaInit(gtsam::Matrix cov);
   
-  Matrix getBiasAccCovariance() const ;
-  Matrix getBiasOmegaCovariance() const ;
-  Matrix getBiasAccOmegaInit() const;
+  gtsam::Matrix getBiasAccCovariance() const ;
+  gtsam::Matrix getBiasOmegaCovariance() const ;
+  gtsam::Matrix getBiasAccOmegaInit() const;
  
 };
 
@@ -184,18 +184,18 @@ class PreintegratedCombinedMeasurements {
       double tol);
 
   // Standard Interface
-  void integrateMeasurement(Vector measuredAcc, Vector measuredOmega,
+  void integrateMeasurement(gtsam::Vector measuredAcc, gtsam::Vector measuredOmega,
       double deltaT);
   void resetIntegration();
   void resetIntegrationAndSetBias(const gtsam::imuBias::ConstantBias& biasHat);
 
-  Matrix preintMeasCov() const;
+  gtsam::Matrix preintMeasCov() const;
   double deltaTij() const;
   gtsam::Rot3 deltaRij() const;
-  Vector deltaPij() const;
-  Vector deltaVij() const;
+  gtsam::Vector deltaPij() const;
+  gtsam::Vector deltaVij() const;
   gtsam::imuBias::ConstantBias biasHat() const;
-  Vector biasHatVector() const;
+  gtsam::Vector biasHatVector() const;
   gtsam::NavState predict(const gtsam::NavState& state_i,
       const gtsam::imuBias::ConstantBias& bias) const;
 };
@@ -207,8 +207,8 @@ virtual class CombinedImuFactor: gtsam::NoiseModelFactor {
 
   // Standard Interface
   gtsam::PreintegratedCombinedMeasurements preintegratedMeasurements() const;
-  Vector evaluateError(const gtsam::Pose3& pose_i, Vector vel_i,
-      const gtsam::Pose3& pose_j, Vector vel_j,
+  gtsam::Vector evaluateError(const gtsam::Pose3& pose_i, gtsam::Vector vel_i,
+      const gtsam::Pose3& pose_j, gtsam::Vector vel_j,
       const gtsam::imuBias::ConstantBias& bias_i,
       const gtsam::imuBias::ConstantBias& bias_j);
 };
@@ -217,12 +217,12 @@ virtual class CombinedImuFactor: gtsam::NoiseModelFactor {
 class PreintegratedAhrsMeasurements {
   // Standard Constructor
   PreintegratedAhrsMeasurements(const gtsam::PreintegrationParams* params,
-                                const Vector& biasHat);
+                                const gtsam::Vector& biasHat);
   PreintegratedAhrsMeasurements(const gtsam::PreintegrationParams* p,
-                                const Vector& bias_hat, double deltaTij,
+                                const gtsam::Vector& bias_hat, double deltaTij,
                                 const gtsam::Rot3& deltaRij,
-                                const Matrix& delRdelBiasOmega,
-                                const Matrix& preint_meas_cov);
+                                const gtsam::Matrix& delRdelBiasOmega,
+                                const gtsam::Matrix& preint_meas_cov);
   PreintegratedAhrsMeasurements(const gtsam::PreintegratedAhrsMeasurements& rhs);
 
   // Testable
@@ -232,27 +232,27 @@ class PreintegratedAhrsMeasurements {
   // get Data
   gtsam::Rot3 deltaRij() const;
   double deltaTij() const;
-  Vector biasHat() const;
+  gtsam::Vector biasHat() const;
 
   // Standard Interface
-  void integrateMeasurement(Vector measuredOmega, double deltaT);
+  void integrateMeasurement(gtsam::Vector measuredOmega, double deltaT);
   void resetIntegration() ;
 };
 
 virtual class AHRSFactor : gtsam::NonlinearFactor {
   AHRSFactor(size_t rot_i, size_t rot_j,size_t bias,
-      const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements, Vector omegaCoriolis);
+      const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements, gtsam::Vector omegaCoriolis);
   AHRSFactor(size_t rot_i, size_t rot_j, size_t bias,
-      const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements, Vector omegaCoriolis,
+      const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements, gtsam::Vector omegaCoriolis,
       const gtsam::Pose3& body_P_sensor);
 
   // Standard Interface
   gtsam::PreintegratedAhrsMeasurements preintegratedMeasurements() const;
-  Vector evaluateError(const gtsam::Rot3& rot_i, const gtsam::Rot3& rot_j,
-      Vector bias) const;
-  gtsam::Rot3 predict(const gtsam::Rot3& rot_i, Vector bias,
+  gtsam::Vector evaluateError(const gtsam::Rot3& rot_i, const gtsam::Rot3& rot_j,
+      gtsam::Vector bias) const;
+  gtsam::Rot3 predict(const gtsam::Rot3& rot_i, gtsam::Vector bias,
       const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements,
-      Vector omegaCoriolis) const;
+      gtsam::Vector omegaCoriolis) const;
 };
 
 #include <gtsam/navigation/AttitudeFactor.h>
@@ -333,25 +333,25 @@ virtual class BarometricFactor : gtsam::NonlinearFactor {
 #include <gtsam/navigation/Scenario.h>
 virtual class Scenario {
   gtsam::Pose3 pose(double t) const;
-  Vector omega_b(double t) const;
-  Vector velocity_n(double t) const;
-  Vector acceleration_n(double t) const;
+  gtsam::Vector omega_b(double t) const;
+  gtsam::Vector velocity_n(double t) const;
+  gtsam::Vector acceleration_n(double t) const;
   gtsam::Rot3 rotation(double t) const;
   gtsam::NavState navState(double t) const;
-  Vector velocity_b(double t) const;
-  Vector acceleration_b(double t) const;
+  gtsam::Vector velocity_b(double t) const;
+  gtsam::Vector acceleration_b(double t) const;
 };
 
 virtual class ConstantTwistScenario : gtsam::Scenario {
-  ConstantTwistScenario(Vector w, Vector v);
-  ConstantTwistScenario(Vector w, Vector v,
+  ConstantTwistScenario(gtsam::Vector w, gtsam::Vector v);
+  ConstantTwistScenario(gtsam::Vector w, gtsam::Vector v,
                         const gtsam::Pose3& nTb0);
 };
 
 virtual class AcceleratingScenario : gtsam::Scenario {
   AcceleratingScenario(const gtsam::Rot3& nRb, const gtsam::Point3& p0,
-                       Vector v0, Vector a_n,
-                       Vector omega_b);
+                       gtsam::Vector v0, gtsam::Vector a_n,
+                       gtsam::Vector omega_b);
 };
 
 #include <gtsam/navigation/ScenarioRunner.h>
@@ -360,11 +360,11 @@ class ScenarioRunner {
                  const gtsam::PreintegrationParams* p,
                  double imuSampleTime,
                  const gtsam::imuBias::ConstantBias& bias);
-  Vector gravity_n() const;
-  Vector actualAngularVelocity(double t) const;
-  Vector actualSpecificForce(double t) const;
-  Vector measuredAngularVelocity(double t) const;
-  Vector measuredSpecificForce(double t) const;
+  gtsam::Vector gravity_n() const;
+  gtsam::Vector actualAngularVelocity(double t) const;
+  gtsam::Vector actualSpecificForce(double t) const;
+  gtsam::Vector measuredAngularVelocity(double t) const;
+  gtsam::Vector measuredSpecificForce(double t) const;
   double imuSampleTime() const;
   gtsam::PreintegratedImuMeasurements integrate(
       double T, const gtsam::imuBias::ConstantBias& estimatedBias,
@@ -372,10 +372,10 @@ class ScenarioRunner {
   gtsam::NavState predict(
       const gtsam::PreintegratedImuMeasurements& pim,
       const gtsam::imuBias::ConstantBias& estimatedBias) const;
-  Matrix estimateCovariance(
+  gtsam::Matrix estimateCovariance(
       double T, size_t N,
       const gtsam::imuBias::ConstantBias& estimatedBias) const;
-  Matrix estimateNoiseCovariance(size_t N) const;
+  gtsam::Matrix estimateNoiseCovariance(size_t N) const;
 };
 
 }