It all depends what type of naviagtion you want: complete route with (spoken) instructions or more basic.
The first will work through the latest version of MS Autoroute (2006) and with garmin Mapsource maos with the extra Garmin nRoute (free download from Garmin site, haven't used it, might only work with Garmin GPS).
More basic is something like OziExplorer or Fugawi, you can use these with maps you scan yourself, and it is up to you to make a route out of waypoints (i.e. coordinates for GPS).
The later would work in faraway places where MS Autoroute has no usuable maps.
In my expereince you can get away without an antenna by placing your GPS behind the windscreen (provided it is not the heated type with small wires running through).
Hope this helps,
Pieter
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