What are the steps involved to migrate Nav 2009 to Nav 2016 version?

then you need to convert your db to RTC in NAV2009R2 itself first as latest versions don't support forms, dataports and classic reports..

You have to upgrade from 2009R2 to 2013R2 and then 2013R2 to 2016 directly. Below is the complete upgrade process steps.

Database Upgrade

In this step, we open the old cleaned database into the new (target) version of Microsoft Dynamics NAV. This process will convert the old version database into target version.
Remember, by doing this step you are not able to use this database with older versions. So always make a backup of Database before converting the database.

Application Code Upgrade

In this step, we convert and merge the code of old version with the target version. For this
step, we have various tools available like in newer version of Microsoft Dynamics NAV, Microsoft provides the utility of power shell but if you are upgrading from old version then you have to do text comparison. For text comparison, we have different tools like Araxis Merge, Beyond compare, Merge tool etc.
However, I would recommend, Merge tool as it is the best!
Also, remember, this step is one of the most time-consuming step of Upgrading process so do it carefully.


Upgrade from NAV2009R2 to NAV 2013R2

Below are the steps, to upgrade from NAV2009R2 to NAV2013R2:
1. Remove all the forms and data ports as they are going to obsolete in NAV 2013R2.
2. Before converting the database in Dynamics NAV 2013R2, you first have to convert the database in NAV 2013 and then convert it into the 2013R2 Database.
3. Upgrade the Application Code using Merge tool.
4. For Merge tool you will need three files i.e. old base (NAV 2009R2 standard DB objects), Target base (NAV 2013R2 standard DB objects) and Old Customize (NAV 2009R2 upgraded customer DB objects).
5. Run the transformation tool (available in the setup of 2013R2) on the text files you have created on step 3. This will remove all the references of the forms and dataports.
6. Once the application objects have been merged with target version, import the merged text file in the BASE of target version i.e. 2013R2 base.
7. Compile all the objects and remove the error if there is any.
8. Once all the objects have been compiled, export all the objects in FOB format.
9. Import the upgraded fob to the client’s converted database.
10. While importing if you are facing any error of “Not dropping the column as data exist” then remove the data in this field from both companies and then reimport the fob file.
11. Once all the upgraded objects fob importing has been done compile all the objects.
12. If there is no error, your database has been upgraded to NAV2013R2. 


Upgrade from NAV2013R2 to NAV 2016


Below are the steps, to upgrade from NAV2013R2 to NAV2016:
1. Convert the NAV 2013R2 database to NAV 2016 compatible database (as described in the Database upgrade section).
2. For Merge tool, you will need three files i.e. old base (NAV 2013R2 standard DB objects), Target base (NAV 2016 standard DB objects) and Old Customize (NAV 2013R2 upgraded customer DB objects).
3. Upgrade the Application Code using Merge tool.
4. Once the application objects have been merged with target version, import the merged text file in the BASE of target version i.e. 2016 base.
5. Compile all the objects and remove the error if there is any.
6. Once all the objects have been compiled, export all the objects in FOB format.
7. Import the upgraded fob to the client’s converted database.
8. While importing if you are facing any error of “Not dropping the column as data exist” then remove the data in this field from both companies and then reimport the fob file.
9. Once all the upgraded objects fob importing has been done compile all the objects.
10. If there is no error, your database has been upgraded to NAV2016. 

I favor 2009 to 2015 because it is the only release where you can zap unwanted fields and tables with the force synchronization (2015 first release for this) and it does not affect the data upgrade routines (2016 uses pre-synchonization table differences for the upgrade routines).