CONTENTS

1. Why a project?
2. Abstract
3. Introduction to project
4. 3.1 Block diagram
3.2 Block diagram description
4 Power Supply
5.1 Power Adapter
5.2 Transformer
5.3 Rectifier
5.4 Smoothing Capacitor
5.5 Voltage Regulator (7805)
5 Microcontroller(ATMEGA 16)
6.1 Features
6.2 Pin Diagram & Description
6.3 I/O ports
6.4 USART (MAX232)
7. GSM Module
8. GPS Module
9. LCD
11. Motor Driver (L293D) & Motor
12. Program Code
13. Applications & Future Aspects
14. Conclusion
15. Reference
WHY A PROJECT ?
A project is necessary for a student of any technical course because of the
following reasons:
 A student undergoing technical course is expected to do some
experimentation and research work on the subject that he/she is studying.
 The experimentation and research is needed, as it helps in gaining the
practical aspects of the knowledge obtained in theory classes.
 A technical student has to dedicate herself in the back breaking study that
is needed in the achievement of practical knowledge, so as to understand
the theoretical part of study encores.
 A person with only theoretical knowledge makes a good combination
towards systematic approach in attaining success, but a person with both
theoretical and practical knowledge makes success and achievements.
 Also gaining practical knowledge in any subject helps a technical student in
his/her academic career and equips with so that he/she performs in
systematic and organized manner in his/her respective field.
That’s why it’s very necessary to do a project.
ABSTRACT:
Tracking systems were first developed for the shipping industry because they wanted to
determine where each vehicle was at any given time. Passive systems were developed in the
beginning to fulfill these requirements. For the applications which require real time location
information of the vehicle, these systems can’t be employed because they save the location
information in the internal storage and location information can only be accessed when vehicle is
available. To achieve Automatic Vehicle Location system that can transmit the location
information in real time, Active systems are developed. Real time vehicular tracking system
incorporates a hardware device installed in the vehicle (In-Vehicle Unit) and a remote Tracking
server. The information is transmitted to Tracking server using GSM/GPRS modem on GSM
network by using SMS or using direct TCP/IP connection with Tracking server through GPRS.
Tracking server also has GSM/GPRS modem that receives vehicle location information via GSM
network and stores this information in database. This information is available to authorized users
of the system via website over the internet.
I. INTRODUCTION :
The roots of Vehicle Tracking Systems lie in shipping industry. When large fleet of vehicles
were spread out over the vast expanses of ocean, the owner corporations often found it difficult
to keep track of what was happening. They required some sort of system to determine where
each vehicle was at any given time and for how long it travelled. The need of vehicle tracking in
consumer’s vehicle rose to prevent any kind of theft because Police can use tracking reports to
locate stolen vehicle. Initially vehicle tracking systems developed for fleet management were
passive tracking system. In passive tracking system a hardware device installed in the vehicle
store GPS location, speed, heading and a trigger event such as key on/off, door open/closed.
When vehicle returns to a specific location device is removed and data downloaded to computer.
Passive systems also included auto download type that transfer data via wireless download but
the system was not real time.

Passive systems weren’t useful to track consumer’s vehicle for theft prevention. Real time
tracking system was required that can transmit the collected information about the vehicle after
regular intervals or at least could transmit the information when required by monitoring station.
Active systems were developed that transmit vehicle’s data in real time via cellular or satellite
networks to a remote computer or data centre.

Many vehicle systems that are in use now days are some form of Automatic Vehicle Location
(AVL). It is a concept for determining the geographic location of a vehicle and transmitting this
information to a remotely located server. The location is determined using GPS and transmission
mechanism could be a satellite, terrestrial radio or cellular connection from the vehicle to a radio
receiver, satellite or nearby cell tower. Other options for determining actual location, for example
in environments where GPS illumination is poor, are dead reckoning, i.e. inertial navigation or
active RFID systems or cooperative RTLS systems. After capture, the tracking data can be
transmitted using any choice of telemetry or wireless communications systems. GSM is the most
common used service for this purpose.
BLOCK DIAGRAM:

GPS

MODULE

GSM MODULE CONTROLLER UNIT MOTOR DRIVER MOTOR

POWER SUPPLY
DESCRIPTION-:
In this project we are using a common power supply which after regulating 12v from the adaptor
gives 5v which is given to all the components of the circuit. The controller section contains the
Atmega16 microcontroller which controls the whole. The GPS module attached with it
continuously sends the position of the system. On demand, GSM can give the location. If we
demand the system through GSM modem, we can send a message to the GSM. On receiving the
demand the GSM module asks the controller to read the GPS values and receives them. Then the
controller stores the position in terms of longitude and latitude. Then it sends the values to a
particular number through GSM and at a time it stops the wheel of the vehicle.
 POWER SUPPLY

DESCRIPTION:
Power supply is the circuit from which we get a desired dc voltage to run the other circuits. The
voltage we get from the main line is 230V AC but the other components of our circuit require 5V
DC. Hence a step-down transformer is used to get 12V AC which is later converted to 12V DC
using a rectifier. The output of rectifier still contains some ripples even though it is a DC signal
due to which it is called as Pulsating DC. To remove the ripples and obtain smoothed DC power
filter circuits are used. Here a capacitor is used. The 12V DC is rated down to 5V using a
positive voltage regulator chip 7805. Thus a fixed DC voltage of 5V is obtained.

A 5V regulated supply is taken as followed:

Each of the blocks is described in more detail below:

 Transformer - steps down high voltage AC mains to low voltage AC.

 Rectifier - converts AC to DC, but the DC output is varying.
 Smoothing - smoothes the DC from varying greatly to a small ripple.
 Regulator - eliminates ripple by setting DC output to a fixed voltage.

TRANSFORMER

Transformer is the electrical device that converts one voltage to another with little loss of power.
Transformers work only with AC. There are two types of transformers as Step-up and Step-down
transformer. Step-up transformers increase voltage, step-down transformers reduce voltage. Most
power supplies use a step-down transformer to reduce the dangerously high mains voltage to a
safer low voltage. Here a step down transformer is used to get 12V AC from the supply i.e. 230V
AC.
RECTIFIERS

A rectifier is a circuit that converts AC signals to DC. A rectifier circuit is made using diodes. There are two types of
rectifier circuits as Half-wave rectifier and Full-wave rectifier depending upon the DC signal generated.

Half-wave Rectifier: It is the rectifier circuit that rectifies only half part of the AC signal. It uses only a single diode.
It only uses only positive part of the AC signal to produce half-wave varying DC and produce gaps when the AC is
negative.
Full-wave Rectifier: It is also called as Bridge Rectifier. A bridge rectifier can be made using four individual diodes,
but it is also available in special packages containing the four diodes required. It is called a full-wave rectifier
because it uses the total AC wave (both positive and negative sections).

SMOOTHING

Smoothing is performed by a large value electrolytic capacitor connected across the DC supply to act as a
reservoir, supplying current to the output when the varying DC voltage from the rectifier is falling. The diagram
shows the unsmoothed varying DC (dotted line) and the smoothed DC (solid line). The capacitor charges quickly
near the peak of the varying DC, and then discharges as it supplies current to the output. Here a capacitor of
330uF is used as a smoothing circuit.
VOLTAGE REGULATION

Voltage regulators produce fixed DC output voltage from variable DC (a small amount of AC on it). Normally
we get fixed output by connecting the voltage regulator at the output of the filtered DC. It can also used in
circuits to get a low DC voltage from a high DC voltage (for example we use 7805 to get 5V from 12V). There
are two types of voltage regulators

1. fixed voltage regulators (78xx, 79xx)

2. Variable voltage regulators (LM317)

In fixed voltage regulators there is another classification

1. Positive voltage regulators

2. Negative voltage regulators

POSITIVE VOLTAGE REGULATORS:

This includes 78xx voltage regulators. The most commonly used ones are 7805 and 7812. 7805 gives fixed 5V DC
voltage if input voltage is in (7.5V-20). You may sometimes have questions like, what happens if input voltage is
<7.5 V or some 3V, the answer is that regulation won't be proper. Suppose if input is 6V then output may be 5V
or 4.8V, but there are some parameters for the voltage regulators like maximum output current capability, line
regulation etc. won't be proper. Remember that electronics components should be used in the proper voltage
and current ratings as specified in datasheet. You can work without following it, but you won't be able to get
some parameters of the component.

NEGATIVE VOLTAGE REGULATORS:

Mostly available negative voltage regulators are of 79xx family. The mainly available 79xx IC's are 7905,7912 1.5A
output current ,short circuit protection, ripple rejection are the other features of 79xx IC's.
Many of the fixed voltage regulators have 3 leads and look like power transistors, such as the 7805 (+5V 1A)
regulator shown on the above. If adequate heat sinking is provided then it can deliver up to maximum 1A current.
For an output voltage of 5v-18v the maximum input voltage is 35v and for an output voltage of 24V the maximum
input voltage is 40V.For 7805 IC, for an input of 10v the minimum output voltage is 4.8V and the maximum output
voltage is 5.2V. The typical dropout voltage is 2V.
CONTROLLER UNIT

ATMEGA16
Features
• High-performance, Low-power AVR® 8-bit Microcontroller
• Advanced RISC Architecture
– 131 Powerful Instructions – Most Single-clock Cycle Execution
– 32 x 8 General Purpose Working Registers
– Fully Static Operation
– Up to 16 MIPS Throughput at 16 MHz
– On-chip 2-cycle Multiplier
• Nonvolatile Program and Data Memories
– 16K Bytes of In-System Self-Programmable Flash
Endurance: 10,000 Write/Erase Cycles
– Optional Boot Code Section with Independent Lock Bits In-System
Programming by On-chip Boot Program True Read-While-Write
Operation
– 512 Bytes EEPROM
Endurance: 100,000 Write/Erase Cycles
– 1K Byte Internal SRAM
– Programming Lock for Software Security
• JTAG (IEEE std. 1149.1 Compliant) Interface
– Boundary-scan Capabilities According to the JTAG Standard
– Extensive On-chip Debug Support
– Programming of Flash, EEPROM, Fuses, and Lock Bits through the JTAG Interface
• Peripheral Features
– Two 8-bit Timer/Counters with Separate Prescalers and Compare Modes
– One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and Capture
Mode
– Real Time Counter with Separate Oscillator
– Four PWM Channels
– 8-channel, 10-bit ADC
8 Single-ended Channels
7 Differential Channels in TQFP Package Only
2 Differential Channels with Programmable Gain at 1x, 10x, or 200x
– Byte-oriented Two-wire Serial Interface
– Programmable Serial USART
– Master/Slave SPI Serial Interface
– Programmable Watchdog Timer with Separate On-chip Oscillator
– On-chip Analog Comparator
• Special Microcontroller Features
– Power-on Reset and Programmable Brown-out Detection
– Internal Calibrated RC Oscillator
– External and Internal Interrupt Sources
– Six Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, Standby and Extended
Standby
• I/O and Packages
– 32 Programmable I/O Lines
– 40-pin PDIP, 44-lead TQFP, and 44-pad QFN/MLF
• Operating Voltages
– 2.7 - 5.5V for ATmega16L
– 4.5 - 5.5V for ATmega16
• Speed Grades
– 0 - 8 MHz for ATmega16L
– 0 - 16 MHz for ATmega16
• Power Consumption @ 1 MHz, 3V, and 25 C for ATmega16L
– Active: 1.1 mA
– Idle Mode: 0.35 mA
– Power-down Mode: < 1 µA
PIN DIAGRAM :
 DESCRIPTION :

The ATmega16 is a low-power CMOS 8-bit microcontroller based on the AVR enhanced RISC
architecture. By executing powerful instructions in a single clock cycle, the ATmega16 achieves
throughputs approaching 1 MIPS per MHz allowing the system designer to optimize power
consumption versus processing speed.

The AVR core combines a rich instruction set with 32 general purpose working registers. All the 32
registers are directly connected to the Arithmetic Logic Unit (ALU), allowing two independent
registers to be accessed in one single instruction executed in one clock cycle. The resulting architecture is
more code efficient while achieving throughputs up to ten times faster than conventional CISC
microcontrollers.

The ATmega16 provides the following features: 16K bytes of In-System Programmable Flash Program
memory with Read-While-Write capabilities, 512 bytes EEPROM, 1K byte SRAM, 32 general
purpose I/O lines, 32 general purpose working registers, a JTAG interface for Boundary-scan, On-
chip Debugging support and programming, three flexible Timer/Counters with compare modes, Internal
and External Interrupts, a serial programmable USART, a byte oriented Two-wire Serial Interface, an
8-channel, 10-bit ADC with optional differential input stage with programmable gain (TQFP package
only), a programmable Watchdog Timer with Internal Oscillator, an SPI serial port, and six software
selectable power saving modes. The Idle mode stops the CPU while allowing the USART, Two-wire
interface, A/D Converter, SRAM, Timer/Counters, SPI port, and interrupt system to continue
functioning. The Power-down mode saves the register con- tents but freezes the Oscillator, disabling all
other chip functions until the next External Interrupt or Hardware Reset. In Power-save mode, the
Asynchronous Timer continues to run, allowing the user to maintain a timer base while the rest of the
device is sleeping. The ADC Noise Reduction mode stops the CPU and all I/O modules except
Asynchro- nous Timer and ADC, to minimize switching noise during ADC conversions. In Standby
mode, the crystal/resonator Oscillator is running while the rest of the device is sleeping. This allows
very fast start-up combined with low-power consumption. In Extended Standby mode, both the main
Oscillator and the Asynchronous Timer continue to run.

The device is manufactured using Atmel’s high density nonvolatile memory technology. The On-chip
ISP Flash allows the program memory to be reprogrammed in-system through an SPI serial interface,
by a conventional nonvolatile memory programmer, or by an On-chip Boot program running on the
AVR core. The boot program can use any interface to download the application program in the
Application Flash memory. Soft- ware in the Boot Flash section will continue to run while the
Application Flash section is updated, providing true Read-While-Write operation. By combining an 8-
bit RISC CPU with In-System Self-Programmable Flash on a monolithic chip, the Atmel ATmega16 is
a powerful microcontroller that provides a highly-flexible and cost-effective solution to many
embedded control applications.

The ATmega16 AVR is supported with a full suite of program and system development tools including:
C compilers, macro assemblers, program debugger/simulators, in-circuit emulators, and evaluation kits.
PIN DESCRIPTIONS

VCC Digital supply voltage.

GND Ground.

Port A (PA7...PA0) Port A serves as the analog inputs to the A/D Converter.
Port A also serves as an 8-bit bi-directional I/O port, if the
A/D Converter is not used. Port pins can provide internal pull-
up resistors (selected for each bit). The Port A output buffers
have symmetrical drive characteristics with both high sink and
source capability. When pins PA0 to PA7 are used as inputs
and are externally pulled low, they will source current if the
internal pull-up resistors are activated. The Port A pins are tri-
stated when a reset condition becomes active, even if the clock
is not running.

Port B (PB7...PB0) Port B is an 8-bit bi-directional I/O port with internal pull-up
resistors (selected for each bit). The Port B output buffers have
symmetrical drive characteristics with both high sink and
source capability. As inputs, Port B pins that are externally
pulled low will source current if the pull-up resistors are
activated. The Port B pins are tri-stated when a reset condition
becomes active, even if the clock is not running.

Port C (PC7…PC0) Port C is an 8-bit bi-directional I/O port with internal pull-up
resistors (selected for each bit). The Port C output buffers have
symmetrical drive characteristics with both high sink and
source capability. As inputs, Port C pins that are externally
pulled low will source current if the pull-up resistors are
activated. The Port C pins are tri-stated when a reset condition
becomes active, even if the clock is not running. If the
JTAG interface is enabled, the pull-up resistors on pins
PC5(TDI), PC3(TMS) and PC2(TCK) will be activated even if
a reset occurs.

Port D (PD7…PD0) Port D is an 8-bit bi-directional I/O port with internal pull-up
resistors (selected for each bit). The Port D output buffers have
symmetrical drive characteristics with both high sink and
 source capability. As inputs, Port D pins that are externally
pulled low will source current if the pull-up resistors are
activated. The Port D pins are tri-stated when a reset condition
becomes active, even if the clock is not running.

RESET Reset Input. A low level on this pin for longer than the
minimum pulse length will generate a reset, even if the clock is
not running.
Shorter pulses are not guaranteed to generate a reset.

XTAL1: Input to the inverting Oscillator amplifier and input to the

internal clock
Operating circuit.

XTAL2: Output from the inverting Oscillator amplifier.

AVCC: AVCC is the supply voltage pin for Port A and the A/D
Converter. It should be externally connected to VCC, even if
the ADC is not used. If the ADC is used, it should be
connected to VCC through a low-pass filter.

AREF: AREF is the analog reference pin for the A/D Converter.

USART

The Universal Synchronous and Asynchronous serial Receiver and Transmitter (USART) is a
highly flexible serial communication device. It is an inbuild feature in the microcontroller.
USART is used for transmission and reception of data. The main features are:

• Full Duplex Operation (Independent Serial Receive and Transmit Registers)

• Asynchronous or Synchronous Operation

• Master or Slave Clocked Synchronous Operation

• High Resolution Baud Rate Generator

• Supports Serial Frames with 5, 6, 7, 8, or 9 Data Bits and 1 or 2 Stop Bits

• Odd or Even Parity Generation and Parity Check Supported by Hardware

• Data Overrun Detection

• Framing Error Detection

• Noise Filtering Includes False Start Bit Detection and Digital Low Pass Filter

• Three Separate Interrupts on TX Complete, TX Data Register Empty, and RX Complete

• Multi-processor Communication Mode

• Double Speed Asynchronous Communication Mode

Max232

The MAX232 is an integrated circuit that converts signals from an RS-232 serial port to signals
suitable for use in TTL compatible digital logic circuits. The MAX232 is a dual driver/receiver
and typically converts the RX, TX, CTS and RTS signals.

The drivers provide RS-232 voltage level outputs (approx. ± 7.5 V) from a single + 5 V supply
via on-chip charge pumps and external capacitors. This makes it useful for implementing RS-232
in devices that otherwise do not need any voltages outside the 0 V to + 5 V range, as power
supply design does not need to be made more complicated just for driving the RS-232 in this
case.

The receivers reduce RS-232 inputs (which may be as high as ± 25 V), to standard 5 V TTL
levels. These receivers have a typical threshold of 1.3 V, and a typical hysteresis of 0.5 V.

The later MAX232A is backwards compatible with the original MAX232 but may operate at
higher baud rates and can use smaller external capacitors – 0.1 μF in place of the 1.0 μF
capacitors used with the original device.

Max232 or rs232 acts as an interface between the micro-controller & the pc. Pins 1&3, 4&5,
15&16 are sorted with the help of ceramic capacitors. Pins 2&6 are connected to capacitors &
each are then grounded.

+5V supply is given to pin 16 & pin no 15 is grounded. Pins 13 & 14 are connected to pin 2&3
of DB9.

Pins 11 & 12 are connected to transmitter & receiver of the microcontroller.

In DB9 PORT PIN2- RECIEVER, PIN 3-TRANSMITTER, PIN5-GROUND

MAXIM MAX232 IN DETAIL

Meet or Exceed TIA/EIA-232-F and ITU

Recommendation V.28

Operate With Single 5-V Power Supply

Operate Up to 120 Kbit/s

 Two Drivers and Two Receivers

 30-V Input Levels
 Low Supply Current . . . 8 mA Typical
 Designed to be Interchangeable With
 Maxim MAX232
 ESD Protection Exceeds JESD 22
– 2000-V Human-Body Model (A114-A)
 Applications TIA/EIA-232-F
Battery-powered systems, terminals, modems, computers
MAX232 PIN DIAGRAM:
MAX232 PIN CONNECTIONS:
LCD:
The display used here is 16x2 LCD (Liquid Crystal Display); this means 16 characters
per line by 2 lines. A very popular standard exists which allows us to communicate with the vast
majority of LCDs regardless of their manufacturer. The standard is referred to as HD44780U,
which refers to the controller chip which receives data from an external source (in this case, the
Atmega16) and communicates directly with the LCD. The 44780 standard requires 3 control
lines as well as either 4 or 8 I/O lines for the data bus. Here we are using 8-bit mode of LCD, i.e.,
using 8-bit data bus.

The three control lines are referred to as EN, RS, and RW.

The EN line is called "Enable." This control line is used to tell the LCD that we are
sending it data. To send data to the LCD, our program should make sure this line is low (0) and
then set the other two control lines and/or put data on the data bus. When the other lines are
completely ready, bring EN high (1) and wait for the minimum amount of time required by the
LCD datasheet (this varies from LCD to LCD), and end by bringing it low (0) again.

The RS line is the "Register Select" line. When RS is low (0), the data is to be treated as a
command or special instruction (such as clear screen, position cursor, etc.). When RS is high (1),
the data being sent is text data which should be displayed on the screen. For example, to display
the letter "T" on the screen you would set RS high.

The RW line is the "Read/Write" control line. When RW is low (0), the information on
the data bus is being written to the LCD. When RW is high (1), the program is effectively
querying (or reading) the LCD. Only one instruction ("Get LCD status") is a read command. All
others are write commands--so RW will almost always be low.
In our case of an 8-bit data bus, the lines are referred to as DB0, DB1, DB2, DB3, DB4, DB5,
DB6, and DB7.

.
The figure below is to show the pin diagram of before mentioned LCD
 MOTORS
As a beginner we mostly use DC motors, stepper motor and servo motor will come later. As
everybody knows DC motor has two leads. If we apply +ve to one lead and ground to another motor
will rotate in one direction, if we reverse the connection the motor will rotate in opposite direction. If
we keep both leads open or both leads ground it will not rotate (but some inertia will be there). If we
apply +ve voltage to both leads then braking will occurs. There are methods to break motor fastly,
like shorting two leads, applying negative polarity exists, but we won't use this in robotics. We apply
(1,1) condition to break the motor fastly (see H-bridge section for more about it).

The main things about a DC motor are Voltage rating, current rating, Torque, Speed. Remember
Torque is inversely proportional to speed. So we had to get a good speed motor to get good torque
because we can operate the good speed motor in slow speed to get good torque. So, maximum speed of
the motor should be as high as possible.

MOTOR DRIVING CIRCUITS (H-BRIDGE)

We cannot connect motor directly to parallel port 555,324 etc. because the IC may be damaged,
same with parallel port (sometimes burning motherboard). So if we want to connect motor to the
output parallel port etc. we should have a motor driving circuitry.

The figure shows the representation of a DC motor. If you apply VCC to A and GND to B then
motor will rotate in clockwise direction (assume the direction as clockwise). If you apply VCC to
B and GND to A then motor will rotate in anticlockwise direction. If you apply GND to A and B
then motor will stop, but some movement is there due to inertia. If you apply VCC to both A and
B then motor will break suddenly, only very small movement due to inertia. That is why if
A,B=VCC it is called breaking. Here VCC refers to the voltage applied to the motor and it
should not be greater than maximum voltage rating of motor. We normally apply 12V to the
motor, Vcc =12V. So now our aim is to make a circuit which will drive motor with the output of
parallel port or a microcontroller.

This is an H-bridge using 4 transistors. This circuit is called H-bridge because, it has a shaped of
'H' with central limb as motor. A transistor become saturated when Vbe>.8V and in cut off when
 Vbe<.5V (normally). Suppose I1=12v(logic HIGH of a digital circuit) then transistorQ1 is cut off
Vbe1=Vb1-Ve1= 12-12=0V . So transistor Q1 is in saturation because it is a PNP transistor.
When I1=0v(logic LOW) Vbe1=0-12v =-12V , it is in saturation. When I1=0V Vbe3=0-0=0V
make Q3 in cut off. When I1=12V then Q3 is saturated. When I1=HIGH and I2=LOW then Q3
and Q2 are ON and the current flow in one direction while I1=LOW and I2= HIGH Q1 & Q4
become ON and current flow in other direction. When I1=I2=HIGH, then Q1 and Q2 are ON and
motor get's braking. When I1=I2=LOW then Q3,Q4 become ON and the motor gets normal
stopping.

The most commonly used H-bridges are L293D and L298. L293 have maximum current rating of
600mA while that of L298 is 2A. L293B and L293D are available in market. If you use L293B
you have to put 4 protection diodes while in L293D, diodes are inside the IC. L298 requires
external protection diodes. Let's start with L293D.

PUSH-PULL FOUR CHANNEL DRIVER WITH DIODES-L293D

Features:
600ma output current capability per channel
1.2A peak output current (non repetitive) per channel
Enable facility over temperature
Protection logical "0" input
Voltage up to 1.5 v (high noise immunity)
Internal clamp diode

DESCRIPTION
The Device is a monolithic integrated high voltage, high current four channel driver designed to
accept standard DTL or TTL logic levels and drive inductive loads (such as relays solenoids,
DC and stepping motors) and switching power transistors.
To simply use as two bridges each pair of channels is equipped with an enable input. A separate
supply input is provided for the logic, allowing operation at a lower voltage and internal clamp
diodes are included.
This device is suitable for use in switching applications at frequencies up to 5 kHz.
The L293D is assembled in a 16 lead plastic package which has 4 center pins connected together
and used for heat sinking
The L293DD is assembled in a 20 lead surface mount which has 8 center pins connected
together and used for heat sinking
 GSM MODULE
GSM (Global System for Mobile communication) is a digital mobile telephony system
that is used worldwide. GSM uses a variation of time division multiple access (TDMA) and is
the most widely used of the three digital wireless telephony technologies (TDMA, GSM, and
CDMA). GSM digitizes and compresses data, then sends it down a channel with two other
streams of user data, each in its own time slot. It operates at 850, 900, 1800, 1900 & 2100 MHz
as well some other frequency bands.
When all required information is extracted and processed, it needs to be transmitted to a remote
Tracking Server which will be able to display this information to the end user. For real time
tracking of vehicle, reliable data transmission to remote server is very important. Wireless
network is required to transmit vehicle information to remote server. Existing GSM network is
selected to transmit vehicle information to remote server because of broad coverage of GSM
network. It is also cost effective rather than to deploy own network for transmission of
information regarding vehicle. For data transmission over GSM network GSM modem is
required. GSM modem can send and receive data SMS text messages and GPRS data over GSM
network. GM862-GPS GSM/GPRS modem is selected to transmit data over GSM network
because of its features and capabilities. GM862-GPS provides AT commands interface i.e. all
functions can be accessed by use of AT commands. AT commands can be sent to it using serial
interface. It has built in UART that accepts the AT commands and modem performs the function
as required by AT command received.
Designed for global market, SIM 300(GSM Modem) is a Tri-band GSM/GPRS engine that
works on frequencies EGSM 900 MHz, DCS 1800 MHz and PCS 1900 MHz . SIM 300 features
GPRS multi-slot class 10 / class 8 (optional) and supports the GPRS coding schemes CS-1, CS-
2, CS-3 and CS-4. AT Commands can be used to get information in SIM card. The SIM
interface supports the functionality of the GSM Phase1 specification and also supports the
functionality of the new GSM Phase2 + specification for FAST 64 kbps SIM (intended for use
with a SIM application Tool-kit). Both 1.8V and 3.0V SIM Cards are supported. The SIM
interface is powered from an internal regulator in the module having nominal voltage 2.8V.The
GSM modem is provided with a sim-tray in which a sim is to be inserted.

Network status indication LED lamp

StateSIM300function
Off- SIM300 is not running
64msOn/0.8secOff - SIM300 does not find the network
64msOn/3SecOff - SIM300 find the network
64msOn/0.3secOff- GPRS communication
GPS MODULE

The Global Positioning System (GPS) is a satellite-based navigation system made up of a

network of 24 satellites placed into orbit by the U.S.A. GPS works in any weather conditions,
anywhere in the world, 24x7. GPS satellites circle the earth twice a day in a very precise orbit
and transmit signal information to earth. GPS receivers take this information and use
triangulation to calculate the user's exact location. Essentially, the GPS receiver compares the
time a signal was transmitted by a satellite with the time it was received. The time difference
tells the GPS receiver how far away the satellite is. Now, with distance measurements from a few
more satellites, the receiver can determine the user's position and display it on the unit's
electronic map. A GPS receiver must be locked on to the signal of at least three satellites to
calculate a 2D position (latitude and longitude) and track movement. With four or more satellites
in view, the receiver can determine the user's 3D position (latitude, longitude and altitude).
In-Vehicle unit uses GPS receiver to capture the current location and vehicle speed. Location and
speed data provided by GPS is not in human understandable format. This raw data needs to be
processed to convert it into useful information that can be displayed by a beacon on the map.
CPU is required to process this raw data. SiRF Star III single-chip GPS receiver is used which
comes integrated with GM862-GPS which is GSM/GPRS modem used for data transmission.
GPS receiver can also provide information of altitude, time of GPS fix, status of GPS fix, and
number of satellite used to compute current location information along with location and speed.
GPS fix means last reported location. For tracking purpose only location and speed data is
required for transmission. Other data provided by GPS receiver is used to determine the validity
of location information.

GPS controller is by default powered on when module is switched on. Figure 5 shows the flow
chart for Read GPS Data subroutine. As shown in the flow chart subroutine first of all checks
whether GPS controller is powered on? To check this “AT$GPSP?” is sent to the module. If it
responds with $GPSP: 0 it is not powered up. If it is not already powered up it can be switched
on by sending “AT$GPSP=1”. Once GPS controller is powered up location information can be
read from it by sending “AT$GPSACP”. The module responds with a long NMEA sentence.
The information of interest is latitude, longitude, speed, number of satellites used in calculating
latitude and longitude. This information is extracted from the received response and saved in
formatted string. This string can be later on passed to Send SMS sub routine to send it to
remotely located Tracking Server.
CIRCUIT DIAGRAM:
PROJECT OPERATION

GPS antenna receives signals from GPS satellites and it must face towards sky for correct
computation of the current location by GPS receiver. Location data is transferred to
microcontroller through serial interface. After processing of the data provided by GPS receiver,
microcontroller transmits this information to remote location using GSM/GPRS modem.
Microcontroller controls the operation of GSM/GPRS modem through serial interface using AT
commands. External GSM antenna is required by the GSM/GPRS modem for reliable
transmission and receiving of data. When modem receives any command sent by tracking server,
it passes this information to microcontroller which analyses received information and performs
action accordingly (i.e. turns on/off ignition of vehicle, transmits current location, restarts GPS
receiver, restarts whole system etc). Some of microcontroller I/O ports are connected to vehicle
ignition on/off circuitry and door status output of vehicle. Information packet sent to server also
contains status information of these I/O ports.

CONCLUSION

The results presented in this paper contain execution of Startup routine, execution of SMS
Configure routine, Logs of Tracking Server and Pointing out current location of vehicle. For
vehicle tracking in real time, in-vehicle unit and a tracking server is used. The information is
transmitted to Tracking server using GSM/GPRS modem on GSM network by using SMS or
using direct TCP/IP connection with Tracking server through GPRS. Tracking server also has
GSM/GPRS modem that receives vehicle location information via GSM network and stores this
information in database. This information is available to authorized users of the system via
website over the internet. Currently In-Vehicle unit was implemented with two boards.
Microcontroller board was externally connected to GM862-GPS interface board. Single board
can be designed to incorporate Microcontroller circuitry on the GM862-GPS interface board. It
will reduce the overall size of In-Vehicle unit and it will also reduce the number of components
so will the cost.