howto: georeferenced navigation. map X/Y-coordinates to UTM or lat/long.

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Hello, I'm currently having the following Sensors:
LIDAR
IMU
GPS

I have managed to create a map with hector mapping and to locate myself with just the LIDAR using laser_scan_matcher + AMCL

now I want to do the same but georeferenced! But I dont know what to do. I think I have to publish with navsat_transform the odometrie in map-coordinates and correct them with amcl. After the correction I have to calculate them back to UTM or lat/long ? Please help!

Is it maybe possible to use a map (yaml /geotiff) so that the map-coordinates and the X/Y-coordinates are equal?