The design of a fully autonomous mobile platform is tightly related to the development of a reliable navigation system. In such context, the problem of the self-localisation covers one of the most important challenges. Nowadays both autonomous and non-autonomous vehicles mainly rely on GPS when dealing with pose estimation. As a drawback, the GPS system is likely to return a non-informative estimate for short-range displacements (i.e. indoor mobile robots operations), as well as in some places the signal can be either unreliable or totally absent. For the reasons mentioned above, a good self-contained localisation system needs to be integrated, in order to fulfill the localisation issue in a wider range of environments.