New technologies and services are being developed every day to support the evolution of automated vehicles (AVs). The ultimate goal is to provide safety features and driving automation systems to enable driverless operation resulting in more efficient transportation. A reliable navigation system relies on the information from both positioning and warning systems, and can even integrate both to provide a robust solution with high integrity. The Global Positioning System (GPS) is the first fully operational global navigation satellite system (GNSS) that provides all-weather worldwide coverage. An inertial navigation system (INS) is a navigation system that includes a navigation processor and an inertial measurement unit (IMU). The IMU consists typically of accelerometers to measure specific forces (acceleration) and gyroscopes to measure angular rotation rates. Odometry is the calculation of the change in position and the speed of an object using motion sensors.