International Journal on ISSN 2077-3528

“Technical and Physical Problems of Engineering” IJTPE Journal

(IJTPE) www.iotpe.com
Published by International Organization of IOTPE [email protected]

June 2023 Issue 55 Volume 15 Number 2 Pages 1-6

Performance comparision between two microcontorllers based GPS for

precision in determing vehicle’s locations
Z.K. Farej 1 A.N. Ismail 2
1. Department of Computer Technology Engineering, Technical Engineering College of Mosul,
Northern Technical University, Iraq, e-mail. [email protected]
2. Department of Computer Technology Engineering, Technical Engineering College of Mosul,
Northern Technical University, Iraq, e-mail. [email protected]

Abstract- Innovative technology known as a global GPS, among other things [3]. The GPS receiver, which
satellite system (GPS) tracker allows for the monitoring of always has an antenna connected, is a tool used to obtain
a vehicle's whereabouts. The GPS receiver receives position data [4].
position data in the form of latitude and longitude, number In addition, the GPS system's multipath error may be
of satellites, altitude, direction, velocity, and time from the decreased by the GPS antenna's high gain and low axial
satellites. This data is analyzed by the microcontroller, ratio, which is less than 3dB. In addition to its other uses,
which then displays the results on the display. The GPS locates objects in real time and is impervious to bad
proposed technique can be employed in several situations weather. Figure 1 [7] illustrates some of the various
where the required information is only sometimes and applications for GPS sensors, containing location-based
irregularly requested. This research proposed a vehicle services, scientific research, and government use [5]. The
tracking system that uses the Arduino Uno board and getting of accurate position with saving time and speed
Raspberry-pi-Pico as microcontrollers and global information and navigation all these done by using
positioning system sensor. Under the suggested two GPS[6].
microcontrollers, the performance of the proposed GPS
system in determining the precision of vehicle location, is
investigated for different speeds at different locations. For 7%
Arduino microcontroller, the minimum and maximum 8%
location accuracy results are 5.3 and 48.8 meters, while for 30%
Raspberry pi Pico are 4.3 and 25.9 meters at speeds of 0 14%
and 100 Km/h respectively. The results show that the
proposed system can operate in any weather and offer more
precise real-time object position. 15%
26%
Keywords: Global Positioning System, GPS accuracy,
Real-time systems, better geographic coordinate location-based services road
Raspberry pi Pico
aviation marine
1. INTRODUCTION surveying and mapping others
GPS is a satellite navigation system used to locate
an object on the ground in an outdoor setting. Today, Figure 1. Global GPS market share [7]
positioning systems are a crucial component of daily life
for people. The advancement of positioning systems is In this research, a GPS-based vehicle tracker that
crucial for the growth of human civilizations since they are uses Arduino and Raspberry Pi Pico microcontrollers to
applicable to a variety of fields, including security, track moving objects remotely through a GPS network, is
military, logistics, monitoring, tracking, health care, designed and implemented. Earlier research utilized the
sports, and entertainment [1]. We may characterize GPS as internet to track automobiles. With widely accessible
a useful technology that has led to the development of one materials, this design is affordable. This project is crucial
of the best all-purpose navigational aids to date [2]. The for security and cost savings [5]. This research uses the
GPS project required the creation and deployment of 18 GPS NEO-6M sensor and two microcontrollers separately
satellites. Each orbital plane, which consists of six to evaluate the performance and accuracy of a GPS system
segments separated by 120 degrees, cost about $12 billion in an automobile at various speeds. The block design and
at the time. These satellites used to collect and show exact flowchart of the proposed GPS-based vehicle tracking
geographic coordinates for places on a map by utilizing system are shown in Figure 2 & Figure 3.

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International Journal on “Technical and Physical Problems of Engineering” (IJTPE), Iss. 12, Vol. 4, No. 3, Sep. 2012

Both of the angles that are specifically specified on the conditions. To evaluate the BT-Q1000XT GPS device's
sphere are latitude and longitude. The angle together with accuracy, they chose four routes on various bearings,
the coordinate system makes up the ability to locate a travelling through various climatic conditions. There were
geographic point on the globe. Latitude is defined in lanes for vehicles, bicycles, and pedestrians on each route.
relation to the equatorial reference; as one goes from north According to their findings, about 50% of the
to south, the value changes from positive to negative. approximately 68,000 GPS points were in 250 cm and
When referencing the prime meridian, longitude is positive 78.7% were within 10 m of the predicted position. The
to the east and negative to the west. Without the driver's median inaccuracy was also 290 cm. The median error for
interference or the use of a technology for continually travels by foot was 3.9, 2.0 for trips by bicycle, 1.5 for trips
gathering the GPS coordinates of moving vehicles, by bus, and 0.5 for trips by car. The median inaccuracy
tracking enables the base station to follow the vehicle in varied significantly across the various area types: it was 70
real time [8]. cm in open areas, 260 cm in half-open areas, and 520 cm
in urban canyons [10].
START To display a car's position on Google Maps, Mohd H.
and Mohd F. conceived and created a GPS-based vehicle
tracking system. This system utilized an Arduino and
Call necessary libraries NEO6m sensor for coordinate routing and a SIM900A for
user connectivity. The system worked well outside but had
some problems inside since a roof or other impediment
Receive data from satellite by GPS sensor prevents the GPS module from receiving a direct signal
from the satellite, which is necessary to derive exact
coordinates, the error between the coordinates taken from
No
the application coordinate and real coordinate was 7
Data ready? meters for outdoor and 30 meters in indoor [11].
Xiaoyun Z. et al. evaluated the accuracy of GPS-based
yes traffic data on the location, speed, and altitude of bicycles,
cars, and buses. They found the geographic placement to
Process the data in the microcontroller be accurate, although with a larger inaccuracy than the
manufacturer had predicted and a non-zero likelihood of
aberrant placing. Altitude readings are unreliable, whereas
Analyze data to extract (latitude and longitude, number of satellites, velocity is somewhat underestimated [12].
altitude, heading, velocity and time) Elsyea Adia and et al., created a kid safety gadget with
a button that, when hit, instantly sends the scene's position
and a photo to a mobile through Telegram. The GPS
module and 5MP camera on the Raspberry Pi are used to
Data updated every 1 second
pinpoint the location and record the incident, respectively.
According to the findings, if both the device and
mobile are connected to same network, the average
Results viewed on screen communication time for positions is 0.91 seconds. During
this time, the expected error in position reading depends
on the speed of the car. In addition, if the device and the
END receiving smartphone are on separate networks, time
required to communicate positions is 0.96 seconds. Both
Figure 2. Flowchart of vehicle tracking system based on GPS circumstances have a 100% picture accuracy rate and a
97.5% location accuracy rate. [13]
Arduino
or
2. METHODOLOGY
GPS sensor Screen
Raspberry Pico The research method has two parts: hardware part and
software part, as follows:

2.1 Hardware Part: includes

Figure 3. Block diagram of vehicle tracking system based on GPS
2.1.1 Arduino Uno: an ATmega328P-based
microcontroller board. It is an open-source hardware and
Khalid A. utilized a GPS receiver to test system software platform. Processing the Arduino Uno requires
precision in determining eight ground speeds starts from the Arduino Software (IDE) and programming language.
(five to fifty) km/h from the receiver every 10 seconds, the It includes six analog inputs, fourteen digital input/output
accuracy of GPS ground speed was examined. Less than port. Figure 4 [4] showing the Arduino microcontroller
7% of the GPS ground speed was inaccurate [9]. [14]
Jasper S. et al. evaluated the GPS device's accuracy
utilizing three data collecting intervals, four different types
of transportation, and real-world environmental

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International Journal on “Technical and Physical Problems of Engineering” (IJTPE), Iss. 12, Vol. 4, No. 3, Sep. 2012

1) U8glib.h : A graphics library that supports a variety of

monochrome monitors and Arduino boards. It is a font
collection featuring a large selection of monospaced
and proportional fonts for graphic LCDs and OLEDs.
Landscape and portrait modes are supported, and there
is a well-defined interface to the device subsystem.
[18]
2) Software Serial: On the digital pins of an Arduino
board, the Software Serial library enables serial
connection by simulating the capabilities with
software. Multiple software serial ports with transfer
rates of up to 115200 bps are feasible [19].
3) TinyGPS++: is an Arduino library that allows you to
Figure 4. Arduino uno microcontroller [14] analyze data streams that GPS units give. This library
offers straightforward and convenient ways to retrieve
2.1.2. Raspberry Pi Pico: This versatile development information from consumer GPS devices, including
microcontroller is affordable with many mimic interfaces location, date, time, altitude, speed [20].
like VGA and SD Card [15]. (See Figure 5 [15] ) 4) Displaying Gauge: The Gauge control uses a
speedometer-like indicator to display a numerical
number. Typically, orders from a linked device set its
value. Up to four labels that may be used to show units
and status data can be attached to the gauge. Colored
bands can be used to mark certain areas of the gauge
scale to show target or out-of-range values [21].
5) Software Development: Some of the software that
was utilized to create the application. The code will be
Figure 5. Raspberry pi Pico [15] developed on the open-source Arduino software, which
will then be uploaded to an Arduino board. C++ is the
2.1.3. GPS NEO-6M sensor: The NEO6M GPS chip from programming language used by Arduino.
uBlox serves as the module's brain. The NEO6M GPS chip
has a lot of functions. The chip contains four pins VCC, 2.2.2. Raspberry Environment
RX, TX, and GND packed into an area that is smaller than Raspberry pi Pico uses python as programming
a stamp but large enough to frame [16]. (See Figure 6. language. It’s environment, some libraries and software
[16]) tools used in the proposed system are as follows:
1) SSD1306: Library for Monochrome OLED based on
SSD1306 drivers.
2) MicropyGPS: is an advanced GPS NMEA phrase
parser designed to work with MicroPython and the
PyBoard embedded microcontroller. Also, Python 3.x
is completely compatible with it. It offers helpful
techniques for analyzing, displaying, logging, and
manipulating GPS data [22].

3. CIRCUIT WIRING DESIGN of the PROPOSED

LOCATION SYSTEM
The microcontroller which is both the system's primary
Figure 6. GPS NEO-6M sensor [16]
component and its brain or controller, is crucial to the
2.1.4. Battery 9v. locator tracking system. At this time, Arduino and
2.1.5. I2C OLED Display: Raspberry are each linked to all supporting components as
It is a single-chip using light-emitting diodes. shown in Figure 7 (a and b) respectively.
There are 64 commons and 128 segments in it. As a result, NEO-6M connected with Arduino, where VCC of the
it consumes less power and has fewer external sensor connected with Arduino 5V, sensor GND
components, such as oscillator, display RAM, and contrast connected to Arduino ground, sensor TX connected to
control [17]. Arduino RX. While NEO-6M connected with Raspberry
pi Pico, the sensor VCC pin connected to Pico 3.3v, GND
2.2 Software Part: pin sensor to Pico GND, GPS TX pin to Arduino GPS.
2.2.1. Arduino environment Wiring OLED with Arduino, OLED VCC connected to 5v
The Arduino environment has some libraries and Arduino, OLED SCL connected to A5 Arduino, OLED
software tools that are used in the proposed system and as SDA connected to Arduino A4, OLED GND connected to
follows: Arduino GND.

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International Journal on “Technical and Physical Problems of Engineering” (IJTPE), Iss. 12, Vol. 4, No. 3, Sep. 2012

Wiring OLED with Raspberry, OLED VCC connected

to 3v3 Raspberry pin, OLED SCL pin connected to
Raspberry pin 12, OLED SDA pin connected to the
Raspberry pin 11, OLED GND pin connected to Raspberry
GND.

(b)
Figure 7. Circuit connection for (a) Arduino microcontroller
(b) Raspberry microcontroller

Choosing a microcontroller development board

improves the system's efficiency. It prevents on-the-job
mistakes and raises research standards. The differences
between them are displayed in Table 1. In terms of
processing speed and RAM, the comparison reveals that
the Raspberry is superior to the Arduino and requires less
voltage assumption. Raspberry is smaller, lighter, and
costs half of Arduino [15] [23].
Table 1. Comparison between the two microcontrollers [15] [23]

Arduino Raspberry pi Pico

Processor ATmega 16MHz Dual core 133 MHz
Flash memory 32 KB 2 MB
Connection USB USB c
(a) I/O pins 14 I/O 30 general purposes
Voltage 5v 3.3v
Weight 25 g 15 g
Dimensions (53.4x68.6) mm 51 mm x 21 mm
LAN No yes
Price 26.95$ 13.53$

4. ANALYTICAL PERFORMANCE EVALUATION

A GPS receiver calculates its position by measuring
the distance to multiple GPS satellites using time taken for
a signal to move from receiver to satellite. At least four
satellite signals are used by the receiver to estimate the
position, and by using the time of arrival of the signals, it
can calculate the distance to each satellite. These distances
are then used to determine the receiver's location using a
process called trilateration [24]
The basic equation for finding the distance is given by
Equation 1 [24]:

Distance = [( x2 − x1 )2 + ( y2 − y1 )2 + ( z2 − z1 )2 ]2 (1)

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International Journal on “Technical and Physical Problems of Engineering” (IJTPE), Iss. 12, Vol. 4, No. 3, Sep. 2012

Where: X1,Y1,Z1 and X2,Y2,Z2 are receiver and satellite locations at which the precision of the determined position
coordinates respectively. is tested, are chosen in Iraq republic/ Mosul city. The
To estimate the velocity, the receiver uses the Doppler carried tests are implemented at five speeds approximately
shift of the GPS signals. The Doppler shift is a change in a (0, 40, 60, 80, 100) Km/h.
wave's frequency brought on by the velocity of the source
and the observer. By measuring the Doppler shift of the
GPS signals, the receiver can calculate its velocity [24].
The basic equation for the Doppler shift is Equation 2
[24]:

fd = (c + v)−1 (vf0 − cf0 ) (2)

Where fd is the Doppler shift, v is the velocity of the

receiver, 𝑓0 is the original frequency of the signal, and c is
Figure 8. Five locations in Mosul city
the speed of light.
To estimate the latitude, the receiver can use The proposed (Arduino based) GPS has been tested.
information from the GPS satellites in combination with The testing process is started by uploading the software to
data from other sensors such as gyroscopes, Arduino. Wait for the GPS to acquire the coordinates.
accelerometers, and magnetometers. The receiver can use When a coordinate is obtained, the GPS will blink once per
the information from these sensors to calculate its second. The coordinate data may also be displayed on
orientation, or attitude, in relation to the Earth's surface. screen and checked through the IDE program's serial
Kalman filter which is a mathematical algorithm used to monitor. It will display latitude and longitude, number of
estimate the attitude of the GPS receiver. It uses a satellites, altitude, direction, velocity, and time as shown
combination of measurements from the GPS receiver, such (for location 4 at speed of (80) km) in Figure 9.
as satellite signals, and data from other sensors, such as
accelerometers and gyroscopes, to estimate the receiver's SAT: 10 Lat: 36.3699264526 Lon: 43.1297378540 Speed: 81
orientation. The Kalman filter utilizes a set of recursive SAT: 10 Lat: 36.3698692321 Lon: 43.1294975280 Speed: 81
equations that are used for estimating system state based
SAT: 10 Lat: 36.3697471618 Lon: 43.1290130615 Speed: 81
on a set of measurements. It is important to note that these
equations are part of a complex mathematical algorithm
Figure 9. shows system performance test on Arduino for location 4 at 80
that is used to estimate the position, velocity and attitude km speed
of a GPS receiver, along with other calculations such as
time-sync between satellite and receiver clock, error The testing process is repeated for the proposed
correction, and more [24]. system under raspberry pi microcontroller. The results of
Distance Calculation: The Haversine formula was this testing are shown in Figure 10 for location 4 at speed
adopted to calculate the distance between google of (100) km.
coordinate and the acquired GPS sensor coordinate for any
of the considered locations. The haversine is based on the Lat: 36.3697242737 Lon: 43.1288671494 Speed: 100.7025Km/h SAT: 9
great-circle distance equation, which is utilized for Lat: 36.3697242737 Lon: 43.1288671494 Speed: 100.7025Km/h SAT: 9
calculating the shortest distance between 2 points on the Lat: 36.3697242737 Lon: 43.1288671494 Speed: 100.7025Km/h SAT: 9
earth. The distance was calculated between two points
using the latitudes and longitudes obtained from a GPS Figure 10. shows system performance test on Raspberry for location 4 at
receiver by using the Tiny GPS++ library. The following 100 km speed
equation (3) can be used to calculate the distance: [25].
The readings in the two figures demonstrate that using
D=2r arcsin[sin ((lat2 − lat1 ) / 2)] + cos(lat2 )cos(lat1 )
2 2 the same sensors, the Raspberry reads more than 14 data
coordinates in less than one second compared to one data
sin 2 ((lng2 − lng1 ) / 2) (3) coordinates every two seconds for the Arduino. This
illustrates how crucial it is to choose the right
Where: microcontroller.
D = 2 points distance difference in meters The results for different at location for are shown in
r = Earth radius (Mean radius = 6,371000 m) Table 2. The results shown that for Arduino
lat₁, lng₁ are point one latitude/longitude in degrees microcontroller the number of satellites is changed from (9
lat₂, lng₂ are point two latitude/longitude in degrees to 11) satellites. the degrees in latitude are changed from
(0.00003 to 0.0001) and degrees in longitude are changed
5. RESULTS AND DISCUSSION from (0.00002 to 0.0005) for GPS sensor. The error in
The proposed GPS system performance for both distance between the google coordinates and sensor
(Arduino and Raspberry Pico) microcontrollers is coordinates is calculated using Haversine formula. These
investigated in terms of location precision. The tests (as errors changing from (5.3 to 48.8) meters for speed
shown in Figure 8) are carried out at five locations. The changing from (0 to 100) km respectively. These results

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International Journal on “Technical and Physical Problems of Engineering” (IJTPE), Iss. 12, Vol. 4, No. 3, Sep. 2012

show that the accuracy of the sensor decreased as the km/h. This is due to the high processing speed of the
velocity increased. Raspberry pi Pico. Which results higher Doppler effect
The results for different speed at location 4 are shown reduction in comparison with the Arduino microcontroller.
in Table 3 shows that the number of satellites is changed
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BIOGRAPHY / BIOGRAPHIES
First Name: Ziyad
Middle Name: Khalaf
Surname: Farej
Birthday: 17/2/1964
Birthplace: Mosul, Iraq
Bachelor: Electronic System Eng,
Cranfield University, UK, 1989
Master: Electronic and Communication Eng. (Spread
Spectrum System/FH), University of Mosul, Mosul, Iraq,
2003
Doctorate: Computer and Communication Networks Eng.
Department of Electric Engineering, University of Mosul,
Mosul, Iraq, 2012
The Last Scientific Position: Asst. Prof., Computer
Technology Engineering department, Technical
Engineering College/ Mosul, Northern Technical
University, Mosul, Iraq, since 2022
Research Interests: Wireless computer and communication
networks, 802.11 WIFI, Internet of Things