 Autonomous vehicles, AVs, rely on advanced sensor technology, perception systems, and software to operate without human intervention. These vehicles promise to improve the efficiency of our transportation system, reduce collisions and traffic congestion, and increase mobility. To ensure reliable operation, AVs must have accurate positioning and mapping capabilities at a submeter level of accuracy. This paper proposes a new approach to positioning and mapping that leverages existing wireless and perception systems, as well as on-board sensors, to provide a comprehensive solution for AVs. Results demonstrate the ability to maintain submeter level accuracy in various environments, increasing the trustworthiness of AVs and reducing their failure rates and degraded conditions. This article was authored by Anuraldin, Anuraldin, and Emil Habibi.