diff --git a/gtsam/navigation/ManifoldPreintegration.h b/gtsam/navigation/ManifoldPreintegration.h
index 22897b9d4..97ad04744 100644
--- a/gtsam/navigation/ManifoldPreintegration.h
+++ b/gtsam/navigation/ManifoldPreintegration.h
@@ -118,10 +118,8 @@ private:
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
     namespace bs = ::boost::serialization;
-    ar & BOOST_SERIALIZATION_NVP(p_);
-    ar & BOOST_SERIALIZATION_NVP(deltaTij_);
+    ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationBase);
     ar & BOOST_SERIALIZATION_NVP(deltaXij_);
-    ar & BOOST_SERIALIZATION_NVP(biasHat_);
     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()));
diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h
index eb30c1f13..29d7814b5 100644
--- a/gtsam/navigation/PreintegrationBase.h
+++ b/gtsam/navigation/PreintegrationBase.h
@@ -213,6 +213,16 @@ class GTSAM_EXPORT PreintegrationBase {
   /// @}
 #endif
 
+ private:
+  /** Serialization function */
+  friend class boost::serialization::access;
+  template<class ARCHIVE>
+  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
+    ar & BOOST_SERIALIZATION_NVP(p_);
+    ar & BOOST_SERIALIZATION_NVP(biasHat_);
+    ar & BOOST_SERIALIZATION_NVP(deltaTij_);
+  }
+
  public:
   GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 };
diff --git a/gtsam/navigation/TangentPreintegration.h b/gtsam/navigation/TangentPreintegration.h
index edf76e562..99aa10b3f 100644
--- a/gtsam/navigation/TangentPreintegration.h
+++ b/gtsam/navigation/TangentPreintegration.h
@@ -132,9 +132,7 @@ private:
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
     namespace bs = ::boost::serialization;
-    ar & BOOST_SERIALIZATION_NVP(p_);
-    ar & BOOST_SERIALIZATION_NVP(biasHat_);
-    ar & BOOST_SERIALIZATION_NVP(deltaTij_);
+    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()));