Working outdoors in an open mine or at a construction site is an ideal location for satellite-based positioning. Still autonomous operations of heavy machinery requires high-quality sensors and accurate positioning to ensure safety of people and equipment. Steer is a Norwegian company that designs and manufactures solutions for autonomous and remote-control haulage for mining and quarry industry. At the heart of their autonomous system is the AsteRx SBi3 Pro+ GNSS/INS (Inertial Navigation System) receiver providing accurate positioning and orientation angles (heading, pitch and roll). Having a fusion of reliable GNSS and INS is especially important for autonomous machinery because it provides redundance of positioning, dead-reckoning, and improved integrity for safe autonomous operation. Haul trucks often operate near falling rocks or close to cliffs, posing a risk to drivers and mining personnel. Autonomous haulage brings safety in addition to optimizing production and improving movement accuracy.