Some of the greatest challenges that connected and automated ground vehicles face are safe path planning, navigation, self-localisation and positioning. This includes the system being able to reason about its environment and decide which path to take or being able to re-plan should the initial path present obstacles or traffic.  JLR aims to develop a testbed capable of testing a Factor Graph Optimisation (FGO) system in vehicle positioning and navigation. The use of a FGO based positioning system has the potential to improve the localisation of a vehicle in a cost-effective manner, aiding the development of future connected and automated vehicles.