Historical review of speed measurement systems starting in late 19th century is given. Mechanical speedometer and two most common electronic speed measurement techniques are described: Reed switch and Hall effect sensors. Introduction to satellite navigation and GPS. Speed measurement using GPS and Doppler effect of GPS signal. To present better explanation of relativistic Doppler effect, basic principles of special and general theory of relativity are clarified. GPS is extended with INS and physical principles of accelerometer and gyroscope are described. Satellite navigation and inertial sensors integration is done with Kalman filter. Mathematical models for incline and speed estimation are suggested. In last chapter there is shown sensor placement and recorded waveforms: comparation of speed measurements conducted with 1Hz, 10Hz and 20Hz GPS signals, accelerometer speed measurement and Kalman filter speed estimation. Differences between waveforms are discussed as well as limitations and improvement possibilities of used estimation models.