diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h
index 8e3f8f0a4..a69fab6e9 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 22897b9d4..ee983a78f 100644
--- a/gtsam/navigation/ManifoldPreintegration.h
+++ b/gtsam/navigation/ManifoldPreintegration.h
@@ -122,11 +122,11 @@ private:
     ar & BOOST_SERIALIZATION_NVP(deltaTij_);
     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()));
-    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 4bff625ca..d997ccbed 100644
--- a/gtsam/navigation/PreintegrationParams.h
+++ b/gtsam/navigation/PreintegrationParams.h
@@ -75,8 +75,8 @@ protected:
     namespace bs = ::boost::serialization;
     ar & boost::serialization::make_nvp("PreintegratedRotation_Params",
          boost::serialization::base_object<PreintegratedRotationParams>(*this));
-    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 edf76e562..29318a6bb 100644
--- a/gtsam/navigation/TangentPreintegration.h
+++ b/gtsam/navigation/TangentPreintegration.h
@@ -135,9 +135,9 @@ private:
     ar & BOOST_SERIALIZATION_NVP(p_);
     ar & BOOST_SERIALIZATION_NVP(biasHat_);
     ar & BOOST_SERIALIZATION_NVP(deltaTij_);
-    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: