diff --git a/gtsam/navigation/NavState.h b/gtsam/navigation/NavState.h
index c535b37ea..6c93a6b94 100644
--- a/gtsam/navigation/NavState.h
+++ b/gtsam/navigation/NavState.h
@@ -254,10 +254,10 @@ public:
   };
 
   /// Hat maps from tangent vector to Lie algebra
-  static LieAlgebra Hat(const TangentVector& xi);
+  static Matrix5 Hat(const Vector9& xi);
 
   /// Vee maps from Lie algebra to tangent vector
-  static TangentVector Vee(const LieAlgebra& X);
+  static Vector9 Vee(const Matrix5& X);
 
   /// @}
   /// @name Dynamics
@@ -300,9 +300,9 @@ private:
 
 // Specialize NavState traits to use a Retract/Local that agrees with IMUFactors
 template <>
-struct traits<NavState> : public internal::LieGroup<NavState> {};
+struct traits<NavState> : public internal::MatrixLieGroup<NavState> {};
 
 template <>
-struct traits<const NavState> : public internal::LieGroup<NavState> {};
+struct traits<const NavState> : public internal::MatrixLieGroup<NavState> {};
 
 } // namespace gtsam
diff --git a/gtsam/navigation/tests/testNavState.cpp b/gtsam/navigation/tests/testNavState.cpp
index 8377b4e97..e36b654b0 100644
--- a/gtsam/navigation/tests/testNavState.cpp
+++ b/gtsam/navigation/tests/testNavState.cpp
@@ -52,6 +52,13 @@ static const NavState T2(Rot3::Rodrigues(0.3, 0.2, 0.1), P2, V2);
 static const NavState T3(Rot3::Rodrigues(-90, 0, 0), Point3(5, 6, 7),
                          Point3(1, 2, 3));
 
+//******************************************************************************
+TEST(NavState, Concept) {
+  GTSAM_CONCEPT_ASSERT(IsGroup<NavState >);
+  GTSAM_CONCEPT_ASSERT(IsManifold<NavState >);
+  GTSAM_CONCEPT_ASSERT(IsMatrixLieGroup<NavState >);
+}
+
 /* ************************************************************************* */
 TEST(NavState, Constructor) {
   std::function<NavState(const Rot3&, const Point3&, const Vector3&)> create =