This work is based on the research project „FRANC-Field Robot for Advanced Navigation in bio-Crops“ which actually had already been finished. The first part of this thesis aims to evaluate, whether the navigation tools of the softwareframework, which was designated for the prototype built in the course of the project, are suitable for the robot. A simulation of a function model imitating the kinematic behaviour required by the navigation tools, showed, that they are basically applicable for FRANC. Apart from this, the fusion of selected, cheap sensors was the subject of a closer examination to estimate their applicability for navigation purposes. Therefore an extended kalman filter was used for the fusion of a inertial measurement unit with a magnetometer, GPS and odometry. In addition another kalman-filter, for calculating the pose via the fusion of gyroscope, magnetometer and accelerometer, was developed, which firmly incorporates the occurrence of external accelerations. This was also done with respect to prospective development steps, where the navigation on three-dimensional, uneven terrain is going to play a major role.