diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index 7a3a801f1..f47ce8846 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@@ -63,11 +63,10 @@ struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams {
   Matrix3 biasOmegaCovariance;  ///< continuous-time "Covariance" describing gyroscope bias random walk
   Matrix6 biasAccOmegaInt;     ///< covariance of bias used for pre-integration
 
-  /// Default constructor makes unitialized params struct.
+  /// Default constructor makes uninitialized params struct.
   /// Used for serialization.
   PreintegrationCombinedParams()
-      : PreintegrationParams(),
-        biasAccCovariance(I_3x3),
+      : biasAccCovariance(I_3x3),
         biasOmegaCovariance(I_3x3),
         biasAccOmegaInt(I_6x6) {}
 
@@ -107,12 +106,9 @@ private:
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
     namespace bs = ::boost::serialization;
     ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationParams);
-    ar & bs::make_nvp("biasAccCovariance",
-         bs::make_array(biasAccCovariance.data(), biasAccCovariance.size()));
-    ar & bs::make_nvp("biasOmegaCovariance",
-         bs::make_array(biasOmegaCovariance.data(), biasOmegaCovariance.size()));
-    ar & bs::make_nvp("biasAccOmegaInt", bs::make_array(biasAccOmegaInt.data(),
-                                                        biasAccOmegaInt.size()));
+    ar & BOOST_SERIALIZATION_NVP(biasAccCovariance);
+    ar & BOOST_SERIALIZATION_NVP(biasOmegaCovariance);
+    ar & BOOST_SERIALIZATION_NVP(biasAccOmegaInt);
   }
 
 public:
@@ -242,8 +238,7 @@ public:
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
     namespace bs = ::boost::serialization;
     ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationType);
-    ar& bs::make_nvp("preintMeasCov_", bs::make_array(preintMeasCov_.data(),
-                                                      preintMeasCov_.size()));
+    ar& BOOST_SERIALIZATION_NVP(preintMeasCov_);
   }
 
 public:
@@ -391,4 +386,3 @@ struct traits<CombinedImuFactor> : public Testable<CombinedImuFactor> {};
 
 /// Add Boost serialization export for derived class
 BOOST_CLASS_EXPORT_GUID(gtsam::PreintegrationCombinedParams, "gtsam_PreintegrationCombinedParams");
-// BOOST_CLASS_EXPORT_GUID(gtsam::CombinedImuFactor, "gtsam_CombinedImuFactor");
diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h
index 408cefdf0..7e080ffd5 100644
--- a/gtsam/navigation/ImuFactor.h
+++ b/gtsam/navigation/ImuFactor.h
@@ -164,7 +164,7 @@ private:
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
     namespace bs = ::boost::serialization;
     ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationType);
-    ar & bs::make_nvp("preintMeasCov_", bs::make_array(preintMeasCov_.data(), preintMeasCov_.size()));
+    ar & BOOST_SERIALIZATION_NVP(preintMeasCov_);
   }
 };
 
diff --git a/gtsam/navigation/ManifoldPreintegration.h b/gtsam/navigation/ManifoldPreintegration.h
index 97ad04744..a290972e4 100644
--- a/gtsam/navigation/ManifoldPreintegration.h
+++ b/gtsam/navigation/ManifoldPreintegration.h
@@ -120,11 +120,11 @@ private:
     namespace bs = ::boost::serialization;
     ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationBase);
     ar & BOOST_SERIALIZATION_NVP(deltaXij_);
-    ar & bs::make_nvp("delRdelBiasOmega_", bs::make_array(delRdelBiasOmega_.data(), delRdelBiasOmega_.size()));
-    ar & bs::make_nvp("delPdelBiasAcc_", bs::make_array(delPdelBiasAcc_.data(), delPdelBiasAcc_.size()));
-    ar & bs::make_nvp("delPdelBiasOmega_", bs::make_array(delPdelBiasOmega_.data(), delPdelBiasOmega_.size()));
-    ar & bs::make_nvp("delVdelBiasAcc_", bs::make_array(delVdelBiasAcc_.data(), delVdelBiasAcc_.size()));
-    ar & bs::make_nvp("delVdelBiasOmega_", bs::make_array(delVdelBiasOmega_.data(), delVdelBiasOmega_.size()));
+    ar & BOOST_SERIALIZATION_NVP(delRdelBiasOmega_);
+    ar & BOOST_SERIALIZATION_NVP(delPdelBiasAcc_);
+    ar & BOOST_SERIALIZATION_NVP(delPdelBiasOmega_);
+    ar & BOOST_SERIALIZATION_NVP(delVdelBiasAcc_);
+    ar & BOOST_SERIALIZATION_NVP(delVdelBiasOmega_);
   }
 };
 
diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h
index 12938a625..9346f749a 100644
--- a/gtsam/navigation/PreintegratedRotation.h
+++ b/gtsam/navigation/PreintegratedRotation.h
@@ -61,7 +61,7 @@ struct GTSAM_EXPORT PreintegratedRotationParams {
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
     namespace bs = ::boost::serialization;
-    ar & bs::make_nvp("gyroscopeCovariance", bs::make_array(gyroscopeCovariance.data(), gyroscopeCovariance.size()));
+    ar & BOOST_SERIALIZATION_NVP(gyroscopeCovariance);
     ar & BOOST_SERIALIZATION_NVP(omegaCoriolis);
     ar & BOOST_SERIALIZATION_NVP(body_P_sensor);
   }
diff --git a/gtsam/navigation/PreintegrationParams.h b/gtsam/navigation/PreintegrationParams.h
index de9950e7d..9ae66e678 100644
--- a/gtsam/navigation/PreintegrationParams.h
+++ b/gtsam/navigation/PreintegrationParams.h
@@ -76,8 +76,8 @@ protected:
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
     namespace bs = ::boost::serialization;
     ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegratedRotationParams);
-    ar & bs::make_nvp("accelerometerCovariance", bs::make_array(accelerometerCovariance.data(), accelerometerCovariance.size()));
-    ar & bs::make_nvp("integrationCovariance", bs::make_array(integrationCovariance.data(), integrationCovariance.size()));
+    ar & BOOST_SERIALIZATION_NVP(accelerometerCovariance);
+    ar & BOOST_SERIALIZATION_NVP(integrationCovariance);
     ar & BOOST_SERIALIZATION_NVP(use2ndOrderCoriolis);
     ar & BOOST_SERIALIZATION_NVP(n_gravity);
   }
diff --git a/gtsam/navigation/TangentPreintegration.h b/gtsam/navigation/TangentPreintegration.h
index 99aa10b3f..1b51b4e1e 100644
--- a/gtsam/navigation/TangentPreintegration.h
+++ b/gtsam/navigation/TangentPreintegration.h
@@ -133,9 +133,9 @@ private:
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
     namespace bs = ::boost::serialization;
     ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationBase);
-    ar & bs::make_nvp("preintegrated_", bs::make_array(preintegrated_.data(), preintegrated_.size()));
-    ar & bs::make_nvp("preintegrated_H_biasAcc_", bs::make_array(preintegrated_H_biasAcc_.data(), preintegrated_H_biasAcc_.size()));
-    ar & bs::make_nvp("preintegrated_H_biasOmega_", bs::make_array(preintegrated_H_biasOmega_.data(), preintegrated_H_biasOmega_.size()));
+    ar & BOOST_SERIALIZATION_NVP(preintegrated_);
+    ar & BOOST_SERIALIZATION_NVP(preintegrated_H_biasAcc_);
+    ar & BOOST_SERIALIZATION_NVP(preintegrated_H_biasOmega_);
   }
 
 public: