E-ISSN: 2321–9637
Volume 1, Issue 5, December 2013
International Journal of Research in Advent Technology
Available Online at:
Garima Jain 1 , Nasreen Noorani2, Vishal Badole 3
Electronics & Communication Department
Acropolis Technical Campus, Indore, India
GPS receiver and GSM modem Robot is developed with the help of Microcontroller based Keil software.
This system is develop to track the location by collecting the information about latitude, longitude and
their directions using GPS device and sent this information to GSM/CDMA through internal USART
using serial cable RS232. Microcontroller is used as the heart to receive the data from GPS device.
Internal USART receives data from a serial cable. Keil software from Microchip is used for
Keywords: 8051 Microcontroller, GSM modem, GPS receiver, Keil software.
GPS Receiver Navigation is the technology of getting a craft or person from different location. In some cases a
more accurate knowledge of our position, latitude, longitude, altitude, speed or time to a desired destination is
required. Radio navigation aids are one of the navigation aids to transmit electronic signals and therefore are
more complex for relatively short wavelengths. Highly accurate systems generally transmit where various types
of radio navigation aids exist. User must remain within line of sight (LOS) whereas systems broadcasting at
lower frequencies (longer wavelengths) are not limited to LOS but are less accurate. A person able to compute
their position signals from one or more radio navigation aids. It is important to note that it is the user radio
navigation receiver that processes. These signals and computes the Position fix. The receiver performs the
necessary computations (e.g., range, bearing and estimated time of arrival) for the user to navigate to a desired
location. Global Positioning System (GPS) is a satellite-based navigation system, It is based on the computation
of range from the receiver to multiple satellites by multiplying the time delay that a GPS signal needs to travel
from the satellites to the receiver by velocity of light based on the distances from at least four satellites it can
compute the position of the user. This whole functioning of the GPS receiver involves analog and digital
processing of the received GPS signal. Involves filtering, amplification, down conversion and Analog to digital
conversion in the analog processing which it will be done by the front end portion of the GPS receiver Whereas
the digital processing can be implemented either on ASIC and FPGA Or microcontroller.
Microcontroller is simply a computer on a single Chip. It’s widely used in the embedded system product One of
the most critical needs of on embedded system is to decrease power consumption and space. This can be
achieved by integrating more functions into the CPU chip [1].
E-ISSN: 2321–9637
Volume 1, Issue 5, December 2013
International Journal of Research in Advent Technology
Available Online at:
Fig. 1: Block Diagram of 8051 Microcontroller [2]
Input:-GPS L1 Signal
Output:-Earth Centered, Earth Fixed Coordinates, Latitude
Longitude, Altitude
Fig. 2: Block Diagram for Receiver
E-ISSN: 2321–9637
Volume 1, Issue 5, December 2013
International Journal of Research in Advent Technology
Available Online at:
2.1. Active GPS Antenna
GPS antennas are available from a different type of manufacturers and include at a minimum low-noise
amplifier and a band pass filter. An active antenna is required due to the low transmit power of GPS satellites
and the degradation and attenuation of the signal as it goes through the atmosphere.
2.1.1 SE4110L
In this paper the SE4110L is a complicated chipset consisting of a several sub-stages. The subsystems are very
similar to those of a super heterodyne receiver with the addition of a high-frequency A/D converter. The device
outputs the magnitude and sign of the received signal at 4.092 MHz the SE4110L will provide the digitally
sampled GPS L1 signal to the Microcontroller.
2.1.2 Microcontroller
A micro-controller can be compared to a small stand alone computer, it is a very powerful device, which is
capable of executing a series of pre-programmed tasks and interacting with other hardware devices.
Serial COM Port
3.1. Design and Implementation of GPS Receiver
GPS modem a device that in used to receive signals from satellite and which also provide Information about
latitude, longitude, time, speed etc . The GPS navigator is more popular In mobiles for they help us to track the
road maps. There is an antenna in a GPS modem which Receives the satellite signals and transfers them to the
modem. Through modem data is converted Useful information and sends the output in serial RS232 logic level
format. The information about Latitude, longitude etc is sent continuously and accompanied by an identifier
string. This paper show interfacing between GPS modem and 8051 microcontroller and extract the Location
(latitude, longitude, altitude, speed, time etc) from the $GPRMC string and display it on LCD.
3.2. Interfacing between 8051 and GPS
USART (The Universal Synchronous and Asynchronous serial Receiver and Transmitter) is used to interrupt for
interface between 8051 and GPS, It’s transmit and Receive serial data by TxD and RxD respective it also used
in Asynchronous mode transfer data With 8 bits data, baud rate is 9600 bps, frame format 1 start bit, and 1 stop
bit. For The GPS, The USART operate in Full-time operation mode for transfer data 124bytes per second and
setup the periodical output data, there are Position (latitude, longitude, altitude, course, speed), Date/Time data,
GPS satellite information and Error index information.
E-ISSN: 2321–9637
Volume 1, Issue 5, December 2013
International Journal of Research in Advent Technology
Available Online at:
Fig. 3: Interfacing between 8051 Microcontroller and GPS Receiver
3.3. Flowchart for Identifying Sentence Identifier
Fig 4: Flowchart for identifying sentence identifier
E-ISSN: 2321–9637
Volume 1, Issue 5, December 2013
International Journal of Research in Advent Technology
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3.4. Flowchart for Receiving and Extracting Data
Fig.5: Flowchart for receiving and extracting data
4.1. NMEA Output Messages
The NMEA-0183 Output Messages are shown as below:
NMEA Record Descriptions GPGGA Global positioning system fixed data: time, position, fixed type. GPGLL
Geographic position: latitude, longitude, UTC time of position fix and status. GPGSA GPS receiver operating
mode, active satellites, and DOP values. GPGSV GNSS satellites in view: ID number, elevation, azimuth, and
SNR values. GPRMC Recommended minimum specific GNSS data: time, date, position, course, speed. GPVTG
Course over ground and ground speed. GPZDA PPS timing message (synchronized to PPS).
The SR-92 adopts interface protocol of National Marine Electronics Association's
NMEA-0183 Version 3.00 interface specification. SR-92 supports 7 types of NMEA sentences (GPGGA,
GPGLL, GPGSA, GPGSV, GPRMC, GPVTG, and GPZDA). The default output sentences are GPGGA,
GPGSA, GPGSV, GPRMC, and GPVTG. The USART communication parameters are 4800 bps, 8 data bits, 1
E-ISSN: 2321–9637
Volume 1, Issue 5, December 2013
International Journal of Research in Advent Technology
Available Online at:
stop bit, and no parity. Other output sentences, baud rate, and related configurations could be requested based on
Single message example
$GPGGA,101229.487,3723.2475,N,12158.3416,W,1,07,1.0,9.0,M, , , ,0000*3E
$GPGSA,A,3,05,02,26,27,09,04,15, , , , , ,1.8,1.0,1.5*11
E-ISSN: 2321–9637
Volume 1, Issue 5, December 2013
International Journal of Research in Advent Technology
Available Online at:
Fig.6: Using 8051Microcontroller Receive GPS Data
This work is used in Vehicle Tracking System, it is the technology used to determine the location of a vehicle
using different methods like GPS and other radio navigation systems operating through satellites and ground
based stations. Vehicle information like location details, speed, distance traveled etc. can be viewed on a digital
mapping with the help of a software via Internet. Even data can be stored and downloaded to a computer from
the GPS unit at a base station and that can later be used for analysis.
ARINC, NAVSTAR GPS Space Segment/Navigation User Interfaces.
Automatic GPS-Based Vehicle Tracking and Localization information System By Rosen Ivanovo, Ph.D., Dep. of Computer System
and Technologies Bulgaria(Research paper), E-mail ID-
Betz, J. Winter 2001-2002,”Binary Offset Carrier Modulations for Radio navigation,” NAVIGATION: Journal of The Institute of
GPS Manual Pro Gin SR-95 GPS Receiver. Taiwan, Sales contact:
Simon, M., et al. (1994), Spread Spectrum Communications Handbook, New York: McGraw-Hill.
About vehicle Tracking Wikipedia
Muhammad Ali Mazidi,(2006) Janice Gillispie Mazidi ,Rolin D.Mckinlay ,for Interfacing Programming:-Second Edition, New Delhi:-
Navigation, Vol. 48, No. 4,.
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