REAL TIME VEHICLE TRACKING SYSTEM

BACHELOR OF TECHNOLOGY

In

ELECTRONICS AND COMMUNICATION ENGINEERING

A Major Project Report Submitted By

NUTHI KEERTHI PRIYA (20011P0417)

Under the esteemed guidance of

DR. A. RAJANI

Professor in ECE Department

Department Of Electronics and Communication Engineering

Jawaharlal Nehru Technological University Hyderabad

College Of Engineering Hyderabad

Autonomous

(Kukatpally -Hyderabad-500085)

2023-24

1|Page
 Department of Electronics and Communication Engineering
Jawaharlal Nehru Technological University Hyderabad
Kukatpally – Hyderabad-500085

CERTIFICATE BY THE SUPERVISOR

This is to certify that the major project report entitled “ REAL TIME
VEHICLE TRACKING SYSTEM” being submitted by

NUTHI KEERTHI PRIYA (20011P0417)

In partial fulfilment of the requirements for the award of degree in Bachelor of

Technology in Electronics and Communication Engineering at the Jawaharlal
Nehru Technological University during the academic year, 2023-24 is a Bonafide
work carried out under my guidance and supervision. The results embodied in
this minor project report have not been submitted to any other University or
institute for the award of any degree or diploma.

Supervisor:

DR. A. RAJANI

Professor and Head,

Department of ECE,

2
JNTUH CEH

Department Of Electronics and Communication Engineering

Jawaharlal Nehru Technological University Hyderabad -
Kukatpally -Hyderabad-500085

CERTIFICATE BY THE HEAD OF THE DEPARTMENT

This is to certify that the project report entitled “REAL TIME

VEHICLE TRACKING SYSTEM” being
submitted by

NUTHI KEERTHI PRIYA (20011P0417)

in partial fulfilment of the requirements for the award of degree in

Bachelor of Technology in Electronics and Communication Engineering at
the Jawaharlal Nehru Technological University during the academic year,
2023-24 is a Bonafide work carried out by them.

3
 HEAD OF
THE DEPARTMENT
DR. A.
RAJANI
-
Professor and Head,
Department of ECE,

JNTUH CEH.

Department Of Electronics and Communication Engineering

Jawaharlal Nehru Technological University Hyderabad

Kukatpally -Hyderabad-500085

DECLARATION OF THE CANDIDATES

We hereby declare The Major Project entitled “REAL TIME VEHICLE

TRACKING SYSTEM” is a Bonafide record work done and submitted
under the esteemed guidance of Dr. A. Rajani, Professor, Department of
ECE, JNTUH CEH, in partial fulfilment of the requirements for Mini project

4
in Electronics and Communication Engineering at the Jawaharlal Nehru
Technological University during the academic year 2023-24 is a Bonafide
work carried out by us and the results kept in the mini project has not been
reproduced. The results have not been submitted to any other institute or
university for the award of a degree or diploma.

NUTHI KEERTHI PRIYA

(20011P0417)

ACKNOWLEDGEMENT

The project entitled “REAL TIME VEHICLE TRACKING SYSTEM” was carried
out by us. We are grateful to the Professor and Head of the department. Dr. A. Rajani of
Electronics and Communication Engineering, JNTU Hyderabad College of Engineering
Hyderabad, for their guidance while pursuing this project.

We take this opportunity to record our gratitude to all those who helped us in the
successful completion of this project. There are many people who helped us directly or
indirectly to complete our project successfully. First, we would like to express our deep
gratitude towards our guide Dr. A. Rajani, Department of Electronics and
Communication Engineering for his support in the completion of our dissertation.

We would like to express our sincere thanks to Dr. A. Rajani, HOD, Department of
ECE for providing the facilities to complete the dissertation. We would like to thank all
our faculty and friends for their help and constructive criticism during the project period.

5
Finally, we are very much indebted to our parents for their moral support and
encouragement to achieve goals.

NUTHI KEERTHI PRIYA

(20011P0417)

INDEX

Page
CONTENTS
Number

LIST OF FIGURES 8

LIST OF TABLES 9

LIST OF ABBREVIATIONS 10

ABSTRACT 11

1.Introduction 12-14

1.1 Aim 13

1.2 Objectives 13

1.3 Methodology 14

2. Overview of GNSS 15-34

2.1 Pin Diagram 19-21

6
 2.2 NMEA Protocol 22-30

2.3 QGNSS Software 31-34

3. TTGO T-Call Module and Blynk Application 35-38

3.1 TTGO T-Call ESP32 Module 35-36

3.2 Blynk Application 37-38

4. Integration of Components 39-40

5. Results and Analysis 41-43

6. Conclusion and Future Scope 44-45

References 46

7
 LIST OF FIGURES

Figures Caption page

No. No.
Figure 1.1 Block diagram 13

Figure 2.1 Architecture of L89 GNSS Module 17

Figure 2.2 Pin Diagram 19

Figure 2.3 Main Window of QGNSS Software 31

Figure 2.4 Test data window 32

Figure 2.5 Signal View Window 32

Figure 2.6 Sky view window 33

Figure 2.7 Command Console 34

Figure 2.8 Online map 34

Figure 3.1 TTGO T-Call ESP32 Module 35

8
Figure 3.2 Blynk Application 37

Figure 4.1 Blynk application interface 40

9
 LIST OF TABLES

Table No. Title Page

No.
Table 2.1 GNSS Constellations and Frequency Bands 16

Table 2.2 Specifications of L89 R2.0 Module 21

Table 2.3 NMEA Talker Id 23

Table 2.4 Parameters of RMC 24

Table 2.5 Parameters of GGA 25

Table 2.6 Parameters of GSV 26

Table 2.7 Parameters of GSA 26

Table 2.8 Parameters of VTG 27

Table 2.9 Parameters of PQTM ANTENNA STATUS 28

Table 2.10 Parameters of Acknowledgement Packet 29

Table 2.11 Parameters of GNSS Search Mode 30

Table 2.12 Signal View Function Description 33

Table 3.1 Specifications of TTGO T-Call ESP32 36

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 LIST OF
ABBREVIATIONS

IRNSS Indian Regional Navigation Satellite System

NavIC Navigation With Indian Constellation

GNSS Global Navigational Satellite System

GSM Global System for Mobile Communication

GPRS General Packet Radio Service

NMEA National Marine Electronic Association

GPS Global Positioning System

QZSS Quasi-Zenith Satellite System

RMC Recommended Minimum Navigation Information

GGA Global Positioning System Fix Data

GSV Satellites in View

GSA Dilution of precision and active satellites

GLL Geographic Position Latitude/Longitude

PRN Pseudo-Random Noise

SBAS Satellite-Based Augmentation System

IoT Internet of Things

USB Universal Serial Bus

ABSTRACT

11
In today's dynamic transportation landscape, the demand for real-time vehicle
tracking solutions has surged, necessitating the integration of cutting-edge
technologies to meet evolving user needs. This project presents a
comprehensive Real-Time Vehicle Tracking System designed to address these
demands by harnessing the combined power of Navigation with Indian
Constellation (NavIC), the TTGO-TCALL ESP32 microcontroller, and the Blynk
application.

In India, ISRO initiated the Indian Regional Navigation Satellite System

(IRNSS) mission to enhance navigation across the Asia-Pacific region. Known as
NavIC, this system offers real-time location services with exceptional accuracy.
NavIC utilizes a constellation of satellites to provide precise positioning data for
various applications. With NavIC, India asserts its capability in satellite-based
navigation, contributing to regional development and technological
advancement.

The TTGO-TCALL is a specific model of ESP32 development board that comes

equipped with a SIM800L GSM/GPRS module, allowing it to connect to cellular
networks. This enables devices based on the TTGO-TCALL to communicate over
the internet even in areas without Wi-Fi coverage, making it suitable for IoT
applications that require remote connectivity. The TTGO-TCALL ESP32
microcontroller plays a central role in the system's architecture, serving as its
backbone for data processing and communication. By integrating with the
NavIC module, the ESP32 enables the acquisition, processing, and transmission
of real-time location information, empowering users with immediate insights
into vehicle positions.

Enriching the hardware components is the Blynk application, a feature-rich IoT

platform that provides an intuitive interface for users to interact with the
tracking system effortlessly. Through the Blynk application, users can access
real-time vehicle location data, receive alerts, and remotely manage tracking
parameters, thereby enhancing operational efficiency and decision-making
capabilities.

12
 1.INTRODUCTION

The Indian Regional Navigation Satellite System (IRNSS), known as NavIC

(Navigation with Indian Constellation), operates within a range of 1500km
covering the Indian region and its neighbouring countries. Unlike GPS (Global
Positioning System), NavIC offers faster response times and precise satellite
imagery specifically tailored for India. Widely adopted in military services for
soldier positioning and deployment, NavIC finds diverse applications in
agriculture, accident monitoring, and CO2 level monitoring across India. In
collaboration with QUALCOMM, ISRO has integrated NavIC chipsets into future
mobile communications, paving the way for enhanced navigation capabilities
within popular applications like Google Maps.

Our project focuses on utilizing the NavIC module to develop a real-time vehicle
tracking system. NavIC, a significant achievement for India, provides Standard
Positioning Service (SPS) to civilians and a more accurate, encrypted Restrictive
Service (RS) for military and defense applications. With its precise positioning
capabilities, NavIC supports users with accurate location data within a 1500km
radius around India, surpassing the accuracy of GPS.

The implementation of a real-time tracking system using NavIC involves

harnessing a constellation of seven NavIC satellites, four of which are in
geosynchronous orbit and three in geostationary orbit, continuously
transmitting navigation signals. Compared to GPS, NavIC offers better accuracy,
with an accuracy rate of 5-10 meters higher. GPS, while widely used, exhibits
limitations such as higher power consumption, especially in battery-operated
devices, and occasional signal interference in indoor or densely populated areas.

Our project aims to overcome the limitations of GPS by utilizing NavIC for more
frequent and accurate real-time location tracking. Qualcomm's efforts to

13
integrate NavIC chipsets into future mobile devices underscore its growing
reliability and cost efficiency compared to GPS. By utilizing NavIC's capabilities,
this project seeks to develop a robust vehicle tracking system capable of
providing accurate, reliable, and cost-effective real-time location data,
addressing the evolving needs of transportation and logistics industries.

1.1 Aim:
The aim of our project is to develop a real-time vehicle tracking system utilizing
NavIC satellite navigation, TTGO-TCALL ESP32 microcontroller, and Blynk
application. This solution aims to enhance accuracy, reliability, and user-
friendliness in vehicle monitoring.

1.2 Objectives:
Design and implement a standalone tracking module utilizing NavIC for precise
real-time location tracking with high accuracy within the Asia-Pacific region,
interfaced with the TTGO-TCALL ESP32 microcontroller.
Integrate the IRNSS-enabled GNSS module with the TTGO T-Call ESP32 and
GSM functionality to enable continuous location tracking.
Utilizes Blynk Application to display the vehicle's location and providing users
with accessible interface for monitoring.

1.3 Methodology:

14
 Fig 1.1: Block Diagram
As we can see from the block diagram above, we receive accurate signals from
the satellite to our tracking module. The tracking module consists of TTGO and
L89 which can process the NavIC signals and now the module will check for the
strength of the signal. The primary Components used for the standalone module
are TTGO T-Call ESP32 Wireless Module and an L89 Quactel. If the Strength of
Wi-Fi is more, it transmits the location data through Wi-fi and if not, it transmits
it through the GSM. The Main important Wi-fi board we are using is TTGO T-Call
V1.4 is a ESP32 is a microcontroller chip with a dual-core 32-bit LX6
microprocessor is integrated with the SIM800L wireless communication module.
It is used for wireless communication and it is a serial Wi-Fi wireless transceiver
module with an integrated TCP/IP protocol stack that gives access to wireless
communication for the microcontroller.

And the Second important module used is the L89 Quactel. L89 is a high-
performance IRNSS-enabled GNSS module, capable of acquiring and tracking GPS,
IRNSS, GLONASS, Beidou, Galileo, and QZSS signals. It is embedded with two
GNSS receivers. the module can work at L1 and L5 bands simultaneously which
gives us much more accuracy and good signal strength. L89 achieves exceptionally
good performance both in acquisition and tracking and fully meets the industrial
standard. With embedded LNA, dual antennas, and antenna switch functions, it is
an ideal product for automotive, consumer, and industry tracking applications.

WORKING:

15
• The IRNSS-enabled GNSS module continuously receives signals from all the
satellites (including NavIC Satellites), determining the accurate geographical
coordinates (latitude and longitude) of the vehicle.
• The ESP32 microcontroller processes the GNSS data, converting raw
coordinates into a human-readable format. It filters and refines the data to
improve accuracy and reduce noise.
• The processed data is then integrated with the SIM800L GSM/GPRS module.
The ESP32 communicates with the module to establish a connection to the
cellular network.
• The ESP32, now equipped with the combined GPS and GSM capabilities,
transmits real-time location data over the cellular network. This data includes
the vehicle's current coordinates, speed, and other relevant information.
• The Blynk application is configured to receive and display the real-time
location data. The ESP32 communicates with the Blynk server, updating the
application with the latest information.
• The Blynk application provides a live map display, showing the vehicle's
current location. Users can interact with the map and track the vehicle in
real-time.
• The tracking device, comprising the TTGO T-Call ESP32, SIM800L GSM/GPRS
module, and IRNSS-enabled GNSS module, is compact and designed to be
carried by the person driving the vehicle. This ensures that the tracking device
is always with the vehicle, enabling accurate path tracking regardless of the
driver.

2.OVERVIEW OF GNSS MODULE (L89 R2.0)

Quectel L89 R2.0 module supports multiple global positioning and navigation
systems: GPS, GLONASS, Galileo, BeiDou, QZSS, IRNSS. The module also
supports SBAS (including WAAS, EGNOS, MSAS, and GAGAN) and AGNSS
functions. L89 R2.0 is a dual-band, multi-constellation GNSS module that features a
high-performance, high-reliability positioning engine. It facilitates fast and precise
GNSS positioning. The module supports serial communication interfaces UART and
16
I2C. The integrated flash memory provides the capacity for storing user-specific
configurations and future firmware upgrades

GPS (Global Positioning System):

GPS is a space-based satellite navigation system that provides location and time
information anywhere on or near the Earth.
It is operated by the United States government and consists of a constellation of
satellites that transmit signals to GPS receivers, allowing them to determine
their precise location.

GLONASS (Global Navigation Satellite System):

GLONASS is Russia's equivalent of GPS. It operates a constellation of satellites
that provide global coverage for navigation and timing services.
GLONASS satellites work in a similar manner to GPS satellites, allowing
GLONASS-enabled devices to determine their position using signals from these
satellites.

Galileo:
Galileo is the European Union's global navigation satellite system. It is designed
to be interoperable with GPS and GLONASS, providing users with more accurate
and reliable positioning.
Galileo offers global coverage and aims to provide high-precision positioning for
various applications, including navigation, agriculture, and emergency services.

BeiDou (BDS):
BeiDou is China's satellite navigation system, also known as the Compass
Navigation Satellite System. It consists of two separate satellite constellations:
BeiDou-1 and BeiDou-2.
BeiDou provides regional and global navigation services, with plans to expand
its coverage and improve its accuracy in the future.

QZSS (Quasi-Zenith Satellite System):

QZSS is a satellite-based augmentation system developed by Japan. It enhances
the accuracy and availability of GPS signals in the Asia-Oceania region.

17
QZSS includes satellites positioned in orbit to provide precise positioning
information, particularly in urban environments where GPS signals may be
obstructed.

IRNSS (Indian Regional Navigation Satellite System):

IRNSS is an autonomous regional satellite navigation system developed by India
to provide accurate position information over the Indian region and the
surrounding area.
It aims to provide reliable positioning services to users in India and neighboring
countries, especially in areas where GPS signals may be unreliable or
unavailable.

SBAS (Satellite-Based Augmentation System):

SBAS systems, including WAAS (Wide Area Augmentation System), EGNOS
(European Geostationary Navigation Overlay Service), MSAS (Multi-functional
Satellite Augmentation System), and GAGAN (GPS Aided GEO Augmented
Navigation), improve the accuracy, integrity, and availability of GNSS signals.
SBAS systems use ground stations to monitor GNSS signals and broadcast
correction messages to improve the accuracy of positioning data received by
GNSS receivers.

AGNSS (Assisted Global Navigation Satellite System):

AGNSS refers to techniques that assist GNSS receivers in acquiring and
processing satellite signals more efficiently.

System Signa Frequency

l (MHz)
GPS L1 1575.42
C/A
GLONAS L1 1602.0
S
Galileo E1 1575.42
BeiDou B1I 1561.098
QZSS L1 1575.42
Table 2.1 GNSS C/A
Constellations and Frequency bands
NavIC L5 1176.45
18
 Fig 2.1 ARCHITECTURE OF L89 R2.0 GNSS MODULE

TCXO (26MHz): The Temperature-Compensated Crystal Oscillator provides a

stable reference frequency for the GNSS receiver, ensuring accurate timing for
signal processing and position calculations.

SAW Filter (Surface Acoustic Wave Filter): This filter helps in the selection
of desired frequencies and rejection of unwanted signals or interference from
adjacent frequency bands, enhancing the receiver's sensitivity and selectivity.

RF Front End with Integrated LNA (Low Noise Amplifier): The RF Front
End amplifies weak satellite signals received by the antenna while minimizing
added noise, improving the overall sensitivity of the GNSS receiver.

PMU (Power Management Unit): The PMU regulates the power supply to
various components of the module, optimizing power consumption and ensuring
reliable operation in different power scenarios, such as battery-powered devices
or vehicle systems.

SRAM (Static Random-Access Memory): SRAM is used for temporary

storage of data and program variables during operation. It may store
intermediate processing results and satellite ephemeris data for quicker access.

19
Flash Memory: Flash memory stores firmware, configuration settings, and
possibly satellite almanac data. Almanac data includes predicted satellite
positions and other information, which helps in faster satellite acquisition during
startup.
RTC (Real-Time Clock): The RTC provides accurate timekeeping functionality,
essential for time stamping NMEA messages and coordinating GNSS position
fixes with other vehicle data.

DIP (Dual In-line Package): DIP may refer to the package style of certain
integrated circuits or components within the module, offering a standard form
factor for easy integration into circuit boards or modules.

L5 Chip Antenna: The L5 chip antenna is specifically designed to receive

signals from the L5 frequency band, which is part of the GNSS signal spectrum.
This antenna enhances reception of signals from satellites broadcasting on the
L5 frequency, improving accuracy and reliability, especially in challenging
environments.

L1 Patch Antenna: Similar to the L5 chip antenna, the L1 patch antenna is

optimized for receiving signals from the L1 frequency band, which is also part of
the GNSS signal spectrum. It enhances reception of signals from satellites
broadcasting on the L1 frequency.

LNA (Low Noise Amplifier): The LNA further amplifies satellite signals
received by the antenna before they are processed by the RF front end, boosting
signal strength and improving receiver sensitivity.

SPDT (Single-Pole Double-Throw) Switch: SPDT switches are used for signal
routing and selection. They may be employed to switch between different
antennas or filter paths to optimize signal reception based on the prevailing
conditions.

XTAL (Crystal Oscillator): The XTAL provides a stable clock source for the
module's microcontroller and other timing-sensitive components, ensuring
accurate signal processing and synchronization.

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Active Antenna Detection: This feature allows the module to detect whether
an active (powered) antenna is connected. It ensures that the receiver is
configured appropriately based on the type of antenna connected, optimizing
performance and power consumption.

Protection Circuit: The protection circuit safeguards the module against

voltage spikes, overcurrent, and other electrical anomalies, enhancing its
reliability and longevity, especially in harsh operating conditions.
MCU (Microcontroller Unit): The MCU is the brain of the module, responsible
for controlling its operation, processing GNSS signals, extracting NMEA
messages, and coordinating vehicle tracking functionalities. It interacts with
other hardware components and interfaces with external devices to provide
accurate positioning information and vehicle tracking capabilities.

2.1 PIN DIAGRAM:

Fig 2.2 : Pin diagram

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The Quectel L89 R2.0 module is equipped with 16 LCC (Leadless Chip Carrier)
pins and 29 LGA (Land Grid Array) pins, which serve as interfaces for
connecting the module to external devices and systems. LCC is a package type
used for integrated circuits (ICs), where the IC has no leads protruding from its
body. Instead, it typically has pads on its underside that make contact with the
circuit board. LGA is another package type used for ICs, where the IC has an
array of metal pads on its underside. These pads make contact with
corresponding pads on the circuit board.

RXD (Receive Data):

This pin is used for receiving data from external devices. It is typically
connected to the receive pin (RX) of a microcontroller or another device.
TXD (Transmit Data):
This pin is used for transmitting data to external devices. It is typically
connected to the transmit pin (TX) of a microcontroller or another device.

GND (Ground):
This pin provides the reference ground voltage for the module and should be
connected to the ground of the system.

VCC:
This pin is the supply voltage input for the module. It typically connects to the
positive voltage supply of the system.

V_BCKP (Backup Power Supply):

This pin provides backup power to maintain critical functions of the module
during power loss or shutdown.

1PPS (One Pulse Per Second):

This pin outputs a pulse signal once per second, synchronized with the GNSS
time reference. It's commonly used for timing applications or synchronization
with other systems.

JAM_IND (Jamming Indicator):

22
This pin indicates the presence of jamming or interference in the GNSS signals.
It can be used to trigger actions or alerts in the system when jamming is
detected.

GEOFENCE:
This pin is used to define geographical boundaries (geofences) within which the
module operates or triggers specific events.

I2C_SCL (I2C Serial Clock):

This pin is part of the I2C (Inter-Integrated Circuit) communication bus and
serves as the clock signal line for data transmission between the module and
other I2C devices.

I2C_SDA (I2C Serial Data):

This pin is also part of the I2C communication bus and serves as the data signal
line for data transmission between the module and other I2C devices.

WAKEUP:
This pin is used to wake up the module from a low-power sleep mode or standby
mode.

AADET_N (Antenna Active Detection):

This pin detects the presence or absence of an active GNSS antenna connection.
It's used to manage power consumption or trigger actions based on antenna
status.

3D_FIX:
This pin indicates whether the module has obtained a 3D fix on the GNSS
signals, meaning it has a reliable position fix in three dimensions (latitude,
longitude, and altitude).

RESET_N (Reset):
This pin is used to reset the module. When pulled low or held at a specific
voltage level, it initiates a reset sequence to restart the module.

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EX_ANT (External Antenna):
This pin is used to connect an external GNSS antenna to the module for
improved signal reception, especially in situations where internal antenna
performance is insufficient.

SPECIFICATIONS OF L89 R2.0 MODULE:

Parameter Specification

Dimensions 26.4 mm × 18.4 mm × 6.8 mm

Weight Approx. 8.2 g

Operating Temperature -40 °C to +85 °C

Storage Temperature -40 °C to +90 °C

Default Constellations GPS (L1 C/A) + Galileo (E1) + QZSS (L1 C/A) +
NavIC (L5)

Table 2.2: Specifications of L89 R2.0 Module

2.2 NMEA (National Marine Electronics

Association) Protocol

NMEA (National Marine Electronics Association) is a standard protocol used for

communication between marine electronic devices, particularly GPS receivers
and other navigational instruments. It defines a set of sentences or data formats
that enable devices to share information such as position, speed, course, time,
and satellite status. NMEA sentences are ASCII text strings with predefined
fields, allowing different devices from different manufacturers to communicate
seamlessly.

24
 STRUCTURE OF NMEA PROTOCOL MESSAGES:

Start of the sentence: Identified by the character '$' (Hex 0x24).

Address: In standard messages, this field comprises a two-character talker

identifier (TalkerID) and a three-character sentence formatter (Sentence
Formatter), identifying the type of talker and the data type respectively. In
proprietary messages, it starts with 'P' followed by a three-character
Manufacturer’s Mnemonic Code.

Data: Variable-length fields delimited by ','. The length depends on the NMEA
message type.

Checksum: Calculated as the 8-bit exclusive OR of all characters in the sentence,

including the ',' field delimiter, between but not including the '$' and the '*'
delimiters.

End of the sentence: <CR><LF>, CR stands for Carriage Return, and LF stands
for Line Feed. In ASCII (American Standard Code for Information Interchange)
and related standards, Carriage Return (CR) moves the cursor to the beginning of
the line, and Line Feed (LF) moves the cursor down to the next line. Together,
they are often used to signify the end of a line.
25
GNSS System TalkerID
GPS (Global Positioning System) GP
GLONASS (Global Navigation Satellite System) GL
Galileo GA
BeiDou (BDS) GB
NavIC (IRNSS) GI
QZSS (Quasi-Zenith Satellite System) GP
Combination of Multiple Systems GN
Table 2.3 : NMEA Talker ID
NMEA 0813 is one of the most widely used versions, defining the standard for
serial data communication between marine electronic devices. NMEA 0183
V3.01, V4.10 are the various revisions and updates to the NMEA 0183 standard
to accommodate changes in technology and incorporate new features.

STANDARD MESSAGES:

Standard messages in the NMEA (National Marine Electronics Association)

protocol typically include sentences that convey various types of navigational
and positioning data. Some of the common standard messages in NMEA protocol
are:

1. RMC (Recommended Minimum Navigation Information): Offers

essential navigation data including latitude, longitude, speed over ground,
course over ground, and time.

NMEA 0183 V4.10 Format (Default):

$<TalkerID>RMC,<UTC>,<Status>,<Lat>,<N/S>,<Lon>,<E/
W>,<SOG>,<COG>,<Date>,<MagVar>,<MagVarDir>,<ModeInd>,<NavStatu
s>*<Checksum><CR><LF>
Where ‘,’ is the delimiter.
26
UTC Coordinated Universal Time (hours, minutes,

seconds)

Status Status of the data (A = Data Valid, V = Data

Invalid)

Lat Latitude (degrees and decimal minutes)

N/S Hemisphere indicator for latitude (N = North, S

= South)

Lon Longitude (degrees and decimal minutes)

E/W Hemisphere indicator for longitude (E = East,

W = West)

SOG Speed Over Ground (in knots)

COG Course Over Ground (in degrees True)

Date Date (day, month, year)

MagVar Magnetic Variation (in degrees)

MagVarD Magnetic Variation Direction (E = East, W =

ir West)

ModeInd Mode Indicator (A = Autonomous, D =

Differential, E = Estimated, N = Data not valid)

NavStatu Navigational Status (A = Active, V = Void)

Table 2.4 : Parameters of RMC

Example:
$GNRMC,073925.000,A,3149.333680,N,11706.947520,E,0.08,0.00,230222,,,D,
V*00

2. GGA (Global Positioning System Fix Data): Provides essential position

information such as latitude, longitude, GPS fix quality, and the number of
satellites in view.
27
NMEA 0183 V4.10 Format (Default):
$<TalkerID>GGA,<UTC>,<Lat>,<N/S>,<Lon>,<E/
W>,<Quality>,<NumSatUsed>,<HDOP>,<Alt>,M,<Sep>,M,<DiffAge>,<DiffS
tation>*<Checksum><CR><LF>
Where ',' is delimiter.

NumSatUs Number of satellites used for the

ed fix

HDOP Horizontal Dilution of Precision

Alt Altitude above mean sea level

M Unit of measurement for altitude

(M = Meters)

Sep Geoidal separation (difference

between the ellipsoidal earth

surface and mean sea level)

M Unit of measurement for geoidal

separation (M = Meters)

DiffAge Age of Differential GPS data

(time since last DGPS update)

DiffStation ID of the DGPS station providing

the correction data

Table 2.5 :Parameters of GGA

Example:
$GNGGA,073925.000,3149.333680,N,11706.947520,E,2,39,0.46,62.014,M,-
0.334,M,,*55

28
3. GSV (Satellites in View): Reports information about the satellites visible to
the GPS receiver, including their identification, elevation, azimuth, and signal
strength.

NMEA 0183 V4.10 Format (Default):

$<TalkerID>GSV,<TotalNumSen>,<SenNum>,<TotalNumSat>{,<SatID>,<Sat
Elev>,<SatAz>,<SatCN0>},<SignalID>*<Checksum><CR><LF>

Where ',' is delimiter.

TotalNumS Total number of GSV sentences for

en this data stream
SenNum Sequential number of this GSV
sentence
TotalNumS Total number of satellites in view
at
SatID Satellite ID
SatElev Elevation of satellite above the
horizon (in degrees)
SatAz Azimuth of satellite (in degrees)
SatCN0 Signal-to-Noise ratio (C/N0) of
satellite signal (in dB-Hz)
SignalID Signal ID (1 = GPS, 2 = SBAS, 3 =
GLONASS, 4 = BeiDou)
Table 2.6: parameters of GSV
Example:
$GPGSV,5,1,17,195,70,093,41,21,64,125,40,194,64,095,37,07,62,292,49,1*61

4. GSA (Dilution of Precision and Active Satellites): Supplies details about

the GNSS system, including the number of satellites being used for the fix,
their PRN (Pseudo-Random Noise) numbers, and dilution of precision.

NMEA 0183 V4.10 Format (Default):

$<TalkerID>GSA,<Mode>,<FixMode>{,<SatID>},<PDOP>,<HDOP>,<VDOP
>,<SystemID>*<Checksum><CR><LF>

29
 Mode Mode of operation (M = Manual,A =
Automatic)
FixMod Fix mode (1 = No Fix, 2 = 2D Fix, 3 =
e 3D Fix)
SatID Satellite ID (up to 12 satellite IDs may
be present)
PDOP Position Dilution of Precision
HDOP Horizontal Dilution of Precision
VDOP Vertical Dilution of Precision
SystemI System ID (1 = GPS, 2 = GLONASS)
D
Table 2.7 : Parameters of GSA
Example:
$GNGSA,A,3,195,21,194,07,08,199,01,30,27,16,09,,0.70,0.46,0.53,1*37

5. GLL (Geographic Position Latitude/Longitude): Offers latitude,

longitude, time, and data validity status.

NMEA 0183 V4.10 Format (Default):

$<TalkerID>GLL,<Lat>,<N/S>,<Lon>,<E/
W>,<UTC>,<Status>,<ModeInd>*<Checksum><CR><LF>

Example:
$GNGLL,3149.333680,N,11706.947520,E,073925.000,A,D*46

6. VTG (Course Over Ground and Ground Speed): Provides data on the
current course over ground and ground speed.

NMEA 0183 V4.10 Format (Default):

$<TalkerID>VTG,<COGT>,T,<COGM>,M,<SOGN>,N,<SOGK>,K,<ModeInd>*
<Checksum><CR><LF>

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 COG Course Over Ground (True)

T Indicator for true course (fixed character

'T')

COG Course Over Ground (Magnetic)

M Indicator for magnetic course (fixed

character 'M')

SOG Speed Over Ground (in knots)

N Indicator for knots (fixed character 'N')

SOG Speed Over Ground (in kilometers per

K hour)

K Indicator for kilometers per hour (fixed

character 'K')

Table 2.8: Parameters of VTG

Example:
$GNVTG,0.00,T,,M,0.08,N,0.14,K,D*2B

PQTM MESSAGES:
In the context of Quectel modules, PQTM messages are indeed proprietary
NMEA messages defined by Quectel to provide specific information related to
the module's operation.

1. PQTMANTENNASTATUS (Antenna Status):

This message provides information about the status of the antenna connected to
the Quectel module. It may include details such as whether the antenna is active
31
 or inactive, its signal strength, and any diagnostic information related to the
antenna's performance as reported by the module.

Format:
$PQTMANTENNASTATUS,<Status>,<Mode>,<Power>*<Checksum><CR><L
F>

Field Description
Antenna status.
0 = Normal
<Statu 1 = Open circuit
2 = Short-circuited
s>

Antenna operation mode.

0 = Automatic
<Mode 1 = Internal antenna (patch antenna)
2 = External antenna
>

External antenna power status.

0 = Power off
<Power 1 = Power on

>

Table 2.9: Parameters of PQTM ANTENNA STATUS

2. PQTMCFGANTENNA
Sets/gets antenna operation mode.

Format:
$PQTMCFGANTENNA,<R/W>,<Mode>*<Checksum><CR><LF>
R/W : Read/Write Configuration (0=Read, 1=Write)
Mode: Antenna Operation Mode (0=Automatic, 1=Internal antenna (patch
antenna))

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 PAIR MESSAGES:
PAIR messages typically provide functionality or features that are unique to the
chipset supplier's implementation. They may include commands for configuring
specific settings, accessing proprietary features, or retrieving information that is
not available through standard NMEA messages.
Some of the common pair commands are:

1. Packet Type: 001 PAIR_ACK

An acknowledgement packet $PAIR001 is returned to inform the sender that
the receiver has received the packet.

Format:
$PAIR001,<CommandID>,<Result>*<Checksum><CR><LF>

Field Description
<CommandI Type of command/packet to be
D> acknowledged.
0 = Command has been
successfully sent.
1 = Command is being processed.
Please wait for the result.
<Result>
2 = Command sending failed.
3 = <CommandID> is not
supported.
4 = Command parameter error.
Out of range/Some parameters
were lost/Checksum error.
5 = MNL service is busy. You can
try again soon.
Table 2.10: Parameters of Acknowledgement packet
2. Packet Type: 066 PAIR_COMMON_SET_GNSS_SEARCH_MODE
Sets the GNSS search mode.

33
 Format:
$PAIR066,<GPS_Enabled>,<GLONASS_Enabled>,<Galileo_Enabled>,<BDS_En
abled>,<QZSS_Enabled>,<NavIC_Enabled>*<Checksum><CR><LF>
Field Description
0 = Disable (DO NOT
search for GPS satellites)
<GPS_Enabled>
1 = Search for GPS
satellites
0 = Disable (DO NOT
search for GLONASS
<GLONASS_Enable
satellites)
d>
1 = Search for GLONASS
satellites
0 = Disable (DO NOT
search for Galileo satellites)
<Galileo_Enabled>
1 = Search for Galileo
satellites
0 = Disable (DO NOT
search for BDS satellites)
<BDS_Enabled>
1 = Search for BDS
satellites
0 = Disable (DO NOT
search for QZSS satellites)
<QZSS_Enabled>
1 = Search for QZSS
satellites
0 = Disable (DO NOT
search for NavIC (IRNSS)
<IRNSS_Enabled>
satellites)
1 = Enable (Search for
NavIC (IRNSS) satellites)
Table 2.11: Parameters of GNSS search mode
Example:
//Search for NavIC satellites only:
$PAIR066,0,0,0,0,0,1*3B
Supported GNSS search modes:

34
GPS only
NavIC (IRNSS) only
GPS +QZSS
GPS + Galileo + NavIC (IRNSS)
GPS + Galileo + NavIC (IRNSS) + QZSS
GPS + Galileo + GLONASS + BDS
GPS + Galileo + GLONASS + BDS + QZSS
GPS + Galileo + GLONASS + BDS + NavIC (IRNSS)
GPS + Galileo + GLONASS + BDS + NavIC (IRNSS) + QZSS

2.3 QGNSS SOFTWARE

QGNSS is a tool that allows us to interact with Quectel GNSS modules quickly
and easily. It enables evaluation, performance testing, development and
debugging of Quectel GNSS modules. It Presents all the information collected by
the GNSS device. All aspects of GNSS data (positioning, velocity, time, satellite
tracking, etc.) can be monitored.

USER INTERFACE DESCRIPTION:

Main Window:
The window illustrated below is the main display window of QGNSS. It shows
the menu bar, tool bar and positioning information.

35
 Fig 2.3: Main Window of QGNSS Software

Text Data Sub-Window:

The "Text Data" sub-window within the QGNSS tool provides a user-friendly
interface for displaying NMEA messages received from the GNSS device. This
sub-window offers various control options at the bottom to enhance user
experience like clear (to clear the display area of the "Text Data" sub-window),
Timestamp (indicate the time at which each message was received) , Pause
(allows users to temporarily halt the display of incoming NMEA messages) and
Filter (enables users to specify criteria for filtering NMEA messages based on
specific parameters)

Fig 2.4 : Test data Window

36
GNSS Signal View (Signal Level) Sub-Window:
The "GNSS Signal View (Signal Level)" sub-window provides a visual
representation of the GNSS signal strength for each satellite in view.

Display of Signal Strength: The sub-window displays flags representing each

satellite in view. The number above each flag represents the Carrier-to-Noise
Density Ratio (C/N0) value, which indicates the signal strength of the satellite.
Checkbox for Satellite Selection: Users can use checkboxes to select the
satellite systems they want to display in the sub-window. Each satellite system,
such as GPS, GLONASS, Galileo, etc., may have its checkbox for selection.
Transparent Flag: If a flag is transparent, it signifies that the receiver is not
currently tracking that particular satellite constellation. In such cases, no data
related to that satellite constellation will be available in NMEA GSA messages.

Fig 2.5 Signal View window

Butto Description
n
PRN Pseudo-Random Noise (PRN) number,
representing the unique identification
number of the satellite.
BAND Frequency band utilized by the satellite
for transmitting signals to the receiver.
AZI Azimuth angle of the satellite in degrees,
indicating its horizontal position relative
to the observer.
ELE Elevation angle of the satellite in degrees,

37
 indicating its vertical position relative to
the observer.
Table 2.12: Signal View Function Description

Sky View Sub-Window:

The “Sky View” sub-window displays the azimuth and elevation angle (above the
Horizon) of each visible navigation satellite per constellation and counts the
number of all visible satellites of each positioning system.

Fig 2.6: Sky view Window

Command Console:
The “Command Console” tool is used for sending a command.

38
 Fig 2.7: Command Console

Online Map:
It is a visual representation of geographic locations, in which we can see our
current location.

Fig 2.8: Online Map

39
 3.TTGO T-CALL ESP32 AND BLYNK
APPLICATION
3.1 TTGO TCALL ESP32 MODULE:

The TTGO T-Call integrates an ESP32 development board with a SIM800L

GSM/GPRS module, facilitating wireless connectivity through the ESP32's Wi-Fi
and Bluetooth features, along with SIM800L GPRS module. Notably, the board
opts for a USB-C port instead of the more conventional micro-USB port for both
power supply and programming. The ESP32 module is a self-contained SOC with
an integrated TCP/IP protocol stack. With its GPIOs, this module can easily be
paired with sensors and other application-specific devices, requiring minimal
development and runtime loading due to its robust onboard processing and
storage capabilities.

Fig 3.1 : TTGO-TCALL ESP32 SIM800L Module

APPLICATIONS:
Remote Monitoring: Gather sensor data remotely and transmit it over cellular
networks for applications in environmental monitoring, agriculture, or industry.

40
Asset Tracking: Combine GPS functionality with the module to create tracking
devices for vehicles, equipment, or shipments, providing real-time location
updates via SMS or cloud storage.

Home Automation: Enable remote control and monitoring of appliances,

security systems, and energy consumption by integrating the module into home
automation systems.
Weather Stations: Develop weather stations to collect local weather data like
temperature, humidity, and atmospheric pressure, sending it to a cloud server
for analysis or public access.

SPECIFICATIONS:

41
 ESPRESSIF-ESP32 240MHz
Chipset Xtensa® dual-core 32-bit
LX6 microprocessor
QSPI flash 4MB / PSRAM
FLASH
8MB

SRAM 520 kB SRAM

UART, SPI, SDIO, I2C, LED

PWM, TV PWM, I2S, IRGPIO,
Modular interface
capacitor touch sensor, ADC,
DACLNA pre-amplifier
Only supports Nano SIM
SIM card
card
Power
USB 5V/1A
Supply
Wifi
802.11 b/g/n
Protocol
Communication
300m
distance
Bluetooth v4.2BR/EDR and
Bluetooth Protocol
BLE standard
Dimension 78.83mm x 28.92mm x
s 8.06mm

Weight 12 grams

42
 Table 3.1: Specifications of TTGO TCALL ESP32 Module

3.2 BLYNK APPLICATION

Blynk is an IoT (Internet of Things) platform designed to simplify the

development of connected hardware projects. It provides a user-friendly
interface and a range of features to enable users to create custom IoT
applications without extensive coding knowledge. Blynk offers both a mobile app
and a cloud-based backend, allowing users to remotely monitor and control their
IoT devices from anywhere.

At its core, Blynk operates on a client-server architecture, where the Blynk app
serves as the client, and the Blynk Cloud functions as the server. Users can
easily create projects within the Blynk app by adding widgets, which represent
different functions or controls for their IoT devices. The Blynk Cloud facilitates
seamless communication between the app and the connected hardware,

43
 ensuring smooth interaction and real-time data exchange. Supported hardware
platforms include Arduino, Raspberry Pi, ESP8266, ESP32, and others, with
communication protocols such as Wi-Fi, Bluetooth, and Ethernet also being
compatible.

Getting started with Blynk is straightforward. Users can begin by downloading

the Blynk app from the App Store or Google Play Store and creating an account
or logging in if they already have one. Once logged in, users can initiate a new
project and select the hardware they intend to use. Blynk provides
authentication tokens that users embed in their hardware code to establish a
connection with the Blynk Cloud, enabling seamless integration and interaction
between the app and the connected devices.

Fig 3.2 : Blynk Application

Applications of Blynk Application:

Home Automation: Seamlessly control and automate home appliances like

lights, thermostats, and security systems from anywhere using Blynk.

Smart Agriculture: Monitor environmental conditions such as temperature,

humidity, and soil moisture in agricultural settings, ensuring optimal conditions
for crop growth, with alerts for necessary interventions.

Industrial Automation: Remotely oversee machinery, equipment, and

production processes in factories and industrial facilities, enhancing efficiency
and productivity.
44
Healthcare Monitoring: Keep track of vital signs, medication schedules, and
medical equipment remotely, providing real-time data and alerts for both patients
and healthcare providers.

Environmental Monitoring: Monitor air and water quality, weather conditions,

and pollution levels in urban areas or natural environments to ensure a healthier
environment.

Vehicle Tracking and Fleet Management: Track vehicles, manage routes,

monitor fuel consumption, and receive maintenance alerts for efficient fleet
management and logistics.

Security and Surveillance: Monitor and control security cameras, sensors, and
alarm systems remotely to enhance the safety and security of homes, offices, and
public spaces.

Education and Research: Utilize Blynk for educational purposes and research
projects, enabling the creation of IoT prototypes, conducting experiments, and
collecting data remotely.

Smart Energy Management: Monitor energy consumption and control lighting,

HVAC systems, and appliances to optimize energy usage, thereby reducing costs
and promoting sustainability.

4. INTEGRATION OF COMPONENTS

Hardware Setup:
Connect the TTGO T-Call board to your computer and ensure it is recognized by
the Arduino IDE. Since TTGO T-Call integrates both ESP32 and SIM800L GSM

45
module, ensure proper power and communication connections between the
board and other components like the L89 GNSS module

Arduino IDE Setup:

Install the necessary libraries for the TTGO T-Call board and L89 GNSS module
in the Arduino IDE. The TinyGPS++ library is used to read and process data
from the GNSS Quactel L89 Module. The code extracts latitude, longitude,
altitude, speed, direction, and satellite information from the GNSS data. The
data is then stored in variables for later use.

The TinyGSM library is used to establish a cellular network connection using the
TTGO T-Call ESP32 Module. The code connects to the APN and authenticates
using the user and pass. The cellular network connection is then used to send
data to the Blynk App.

Upload the code to an TTGO T-Call board using the Arduino IDE.

Blynk Application Setup:

Blynk is an IoT (Internet of Things) platform designed to simplify the
development of connected hardware projects. It provides a user-friendly
interface and a range of features to enable users to create custom IoT
applications without extensive coding knowledge.

Download and install the Blynk mobile application from the App Store or Google
Play Store. Create a new project in the Blynk app and obtain the authentication
token. Add the necessary widgets to the Blynk project, such as buttons, sliders,
and displays, to control and monitor the vehicle tracking system. Configure the
widgets to communicate with the TTGO T-Call board using the authentication
token obtained earlier.

The Blynk library is used to send the GNSS data to the Blynk App. The code uses
the Blynk virtual pins to display the data on the Blynk App dashboard. The
location is updated on the map using the Blynk Map Widget.

46
 Fig 4.1 : Blynk Application Interface

Integration:
Modify the Arduino code to establish a connection to the Blynk server using the
provided authentication token. Implement code logic to read data from the L89
GNSS module and send it to the Blynk server periodically. Use Blynk widgets to
visualize the GPS data on the mobile application, such as displaying the vehicle's
location on a map, speed, direction, and the number of satellites.
Deployment:
Once the system is successfully tested and verified, we deploy it in the vehicle
for real-world usage. Continuously monitor the system's performance. The
tracking device is compact and designed to be carried by the person driving the
vehicle.

47
 5. RESULT AND ANALYSIS

This image is a GNSS (Global Navigation Satellite System) software interface,

specifically QGNSS V1.10. The software displays various details about GNSS
satellite signals and positional data.

Text Data (Top Left):

This section shows raw NMEA sentences, which are standard data formats used
by GNSS receivers to transmit position data. Examples of these sentences

48
include $GAGSV, $GPGSV, $GNRMC, $GNGGA, etc., providing information
about satellites in view, their positions, and signal quality.

Signal Level (Top Center)

This bar graph displays the signal levels of different satellites. Each bar
represents a satellite, and the height of the bar indicates the strength of the
signal. The satellites are grouped by GNSS systems such as GPS, GLONASS,
Galileo, etc. Different colors are used to differentiate between the systems.

Data Dock (Top Right): Displays detailed positional and status information
including coordinates, altitude, speed, fix mode, and more.

Online Map (Bottom Left)

This map shows the current location of the GNSS receiver on a map. It uses
OpenStreetMap for map data. The red marker indicates the precise location of
the receiver.

Sky View (Bottom Right)

This polar plot displays the position of the satellites in the sky relative to the
receiver. Satellites are plotted based on their azimuth and elevation angles.
Different icons and colors represent satellites from different GNSS
constellations (GPS, Galileo, etc.).

49
Signal Level (Top Center): Bar graph showing the signal strength of NAVIC
satellites. The PRNs (Pseudo-Random Numbers) represent different NAVIC
satellites with their respective signal strengths. To enable NAVIC signals on a
GNSS module, we typically need to send specific configuration commands to the
module. These commands can vary depending on the manufacturer and model of
the GNSS receiver.

To enable NavIC Signal in L89 GNSS Module we use the following pair
command:
$PAIR066,<GPS_Enabled>,<GLONASS_Enabled>,<Galileo_Enabled>,<BDS_
Enabled>,<QZSS_Enabled>,<NavIC_Enabled>*<Checksum><CR><LF>

50
These are the results from Blynk application, it provide details about the
device's location and movement. The map section displays the device's current
location. Below the map, several metrics are provided: Latitude, Longitude,
Altitude, Speed, Direction, No of Satellites.

51
 6. CONCLUSION AND FUTURE
SCOPE

CONCLUSION:

The L89 GNSS module, leveraging IRNSS and other satellite systems, delivers
precise and reliable location data, ensuring accurate tracking. Efficient data
processing is achieved through the ESP32, which extracts critical information
such as latitude and longitude from the NMEA sentences provided by the GNSS
module. Seamless data transmission is facilitated by the SIM800L module,
ensuring continuous and stable communication over cellular networks to the
Blynk cloud platform. This enables real-time monitoring via the Blynk
application, which offers a user-friendly interface for tracking the vehicle's
location on a map with ease. The solution is both cost-effective and scalable,
utilizing readily available components, making it suitable for a wide range of
applications including fleet management, personal vehicle tracking, and
logistics.

APPLICATIONS:

Fleet Management: Companies with delivery vehicles, taxis, or other mobile

resources can track their location in real-time, improving efficiency and
optimizing routes.

Personal Vehicle Tracking: For personal use, you can track your car's location
in case of theft or to monitor teenage drivers.

Asset Tracking: This system can be used to track valuable equipment or

machinery in transit or on a worksite.

52
Emergency Response: Emergency services can use real-time tracking to locate
stranded vehicles or dispatch help to accident scenes faster.

Roadside Assistance: Roadside assistance companies can use the system to

locate stranded vehicles and dispatch help more efficiently.

Stolen Vehicle Recovery: If your vehicle is stolen, the tracking system can help
authorities locate it and recover it quickly.

Delivery Services: Courier companies can track the location of delivery

vehicles to provide customers with accurate delivery times and improve overall
delivery efficiency.

Public Transportation Management: Transit agencies can use the system to

monitor the location of buses, trains, or other public transportation vehicles,
allowing for better scheduling and service optimization.

Construction Site Monitoring: Contractors can track the movement of

vehicles and equipment on construction sites to ensure they are being used
efficiently and to prevent theft.

School Bus Tracking: Parents and school administrators can track the location
of school buses to ensure the safety of students and optimize bus routes.

FUTURE SCOPE:

As NavIC continues to evolve and expand, enhanced satellite coverage and

signal accuracy can be expected, enabling more precise vehicle tracking,
especially in challenging environments such as urban canyons or dense foliage.
The integration of artificial intelligence will further enhance the system by
utilizing machine learning algorithms to analyze driver behavior, predict
maintenance needs, and optimize routes. This system can also be adapted for
tracking and monitoring other vehicles, including motorcycles, bicycles, and
even drones. Additionally, the solution can be optimized for electric vehicles,

53
providing features such as tracking battery life, locating charging stations, and
monitoring energy consumption.

REFERENCES

[1] “Real Time Vehicle Tracking Using NavIC System”- Anshil P, Jeffrey W,
Naveen Kumar S, Jeswin J, 2023 IEEE.

[2] “Development of NavIC Based Asset Tracking System”- Yuvaraj Dewangan,

Sateesh Kumar Awasthi, Oct 7-9 2022 IEEE.

[3] “The positioning and navigation system on latitude and longitude map using
IRNSS user receiver”- 2016, 122-127, IEEE.

[4] “Development of vehicle tracking system using GPS and GSM modem”-H. D.
Pham, Micheal Drieberg, Chi Cuong Nguyen, in IEEE Conference on Open
Systems (ICOS), 2013.

[5] “Design and Development of GPS/GSM based Vehicle Tracking and Alert
System for Commercial inter-city buses”, IEEE 4th International Conference on
Adaptive Science & Technology (ICAST), October 2012.

[6] “Yaqzan, A.I., Damaj, I.W. and Zantout, R.N., 2019. Gps-based vehicle
tracking system-on-chip.

[7] Cui, Y., Xu, H., Wu, J., Sun, Y. and Zhao, J., 2019. Automatic vehicle tracking
with roadside LiDAR data for the connected-vehicles system. IEEE Intelligent
Systems, 34(3), pp.44-51.

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