diff --git a/matlab/tests/main_runAllTests.m b/matlab/tests/main_runAllTests.m
index 44d43337b3b449ef6497f1ef3ac8893cfa764f7d..3c16658f31ca882be4dfdd6f047ebee0ab07b886 100644
--- a/matlab/tests/main_runAllTests.m
+++ b/matlab/tests/main_runAllTests.m
@@ -6,8 +6,8 @@
 test_dcm2q
 test_get_settings_car
 test_get_settings_cycling
-% test_gps_randomized_car
-% test_gps_randomized_cycling
+test_gps_randomized_car
+test_gps_randomized_cycling
 % test_GPSaidedINS_car
 % test_GPSaidedINS_cycling
 % test_gravity
diff --git a/matlab/tests/test_GPSaidedINS_car.m b/matlab/tests/test_GPSaidedINS_car.m
new file mode 100644
index 0000000000000000000000000000000000000000..aae6a5b6ba1c5c1024ac918920fd15b6b8b3bc79
--- /dev/null
+++ b/matlab/tests/test_GPSaidedINS_car.m
@@ -0,0 +1,32 @@
+% test case for function GPSaidedINS_car
+
+%purpose: test that the function runs without errors and outputs the
+%         correct struct
+
+%oracle: returns a non-empty struct with fields: x_h, delta_u_h, diag_P,
+%        energy and error
+
+clear all             %clear workspace 
+close all
+cd ..                 %move to functions directory           
+
+%initialize input data
+load('car_input_data.mat');
+settings=get_settings_car();
+settings.P_treshold=4.1;
+%execute function
+out_data=GPSaidedINS_car(in_data,settings);
+
+cd tests              %go back to tests directory
+
+%verify output
+if ~(isfield(out_data, 'x_h') && ...
+     isfield(out_data, 'delta_u_h') && ...
+     isfield(out_data, 'diag_P') && ...
+     isfield(out_data, 'energy') && ...
+     isfield(out_data, 'error')...
+    )
+    error('error in function GPSaidedINS_car')
+else
+    disp('function GPSaidedINS_car ok')
+end
\ No newline at end of file
diff --git a/matlab/tests/test_GPSaidedINS_cycling.m b/matlab/tests/test_GPSaidedINS_cycling.m
new file mode 100644
index 0000000000000000000000000000000000000000..016fc9bc0fd72a9a5685dc27bf784edb8f92f3dd
--- /dev/null
+++ b/matlab/tests/test_GPSaidedINS_cycling.m
@@ -0,0 +1,32 @@
+% test case for function GPSaidedINS_cycling
+
+%purpose: test that the function runs without errors and outputs the
+%         correct struct
+
+%oracle: returns a non-empty struct with fields: x_h, delta_u_h, diag_P,
+%        energy and error
+
+clear all             %clear workspace 
+close all
+cd ..                 %move to functions directory           
+
+%initialize input data
+load('cycling_input_data.mat');
+settings=get_settings_cycling();
+settings.P_treshold=4.1;
+%execute function
+out_data=GPSaidedINS_cycling(in_data,settings);
+
+cd tests              %go back to tests directory
+
+%verify output
+if ~(isfield(out_data, 'x_h') && ...
+     isfield(out_data, 'delta_u_h') && ...
+     isfield(out_data, 'diag_P') && ...
+     isfield(out_data, 'energy') && ...
+     isfield(out_data, 'error')...
+    )
+    error('error in function GPSaidedINS_cycling')
+else
+    disp('function GPSaidedINS_cycling ok')
+end
\ No newline at end of file