Navigation systems do not require a monthly fee, but try to find a DVD-based system instead of a CD-based system. They do charge for the DVDs/CDs that contain the map database the system uses to provide navigation system, and obviously they can fit more info onto a DVD than a CD. You have to purchase additional DVDs/CDs if you want navigation data for an area not covered on the disc that comes with the car.
OnStar is the service that requires a monthly fee. However, it isn't a navigation system. Rather it is a link to the OnStar office and they can give directions if you get lost, call emergency vehicles for you when you are in an accident, etc., etc. The OnStar system also knows where your car is at all times, not necessarily a good thing.