It's not clear at this point. TomTom has said they have their software running on the iPhone, but haven't announced a release date. You wouldn't want to use the Google Maps on the iPhone for 911 response because it doesn't have turn-by-turn directions.
Around the time of the 3G's release, there were rumors that the GPS in it wasn't accurate enough for real-time directions (false) and that the iPhone SDK didn't contractually allow the use of GPS for real-time navigation (this probably only referred to Google Maps, but it's not totally clear). I'm sure that any navigation software for it will use the built-in GPS and not any bluetooth devices, though.
If your current GPS works for you, why do you need to use the iPhone for navigation?