How to model Sensor Noise in SimuLink

Hello,

i am working on a odometry model, which estimates the position of a self driving vehicle. The odometry model uses the inputs wheel speed, yaw rate and steering angle, which are taken from the carmaker environment, so they are ideal. How can i creat a realistic sensor model, so the input signals behave like they would in real life (e.g. stochastic sensor noise), where the actual sensors are used in the vehicle to get the input data for the odometry?

Thanks in advance!

Greetings