Uttering one's intention?

Salaam all.

I have a question regarding uttering intention out, i know having read a guide by Ibn Baaz that reciting intention out aloud is a bid'ah and have also found proof from this fatwa http://www.islam-qa.com/en/ref/37841

However, i find that my whispering it to myself under my breath it kind of helps me reaffirm and consolidate what i am praying and reassures me.

Is this still an innovation or would this be allowed? Just to be clear i am not saying it aloud as in shouting or the tone of one's voice in a conversation but almost silently under my breath just moving my lips?