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Geofencing on the Real-Time GPS Tracking System and Improving GPS

Accuracy with Moving Average, Kalman Filter and Logistic Regression
Analysis

Conference Paper · October 2019

DOI: 10.1109/ISMSIT.2019.8932766

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 Geofencing on the Real-Time GPS Tracking
System and Improving GPS Accuracy with
Moving Average, Kalman Filter and Logistic
Regression Analysis
Zeynep ÖZDEMİR
Ankara University
Computer Engineering
Ankara,Turkey
zynpozdemir@ankara.edu.tr
Abstract—People throughout history have wondered their
position on the world. This led to the development of Global
Navigation Satellite Systems (GNSS). The most widely used is
the GPS (Global Positioning System) technology. Signals
emitted from GPS satellites. Calculates your own location by
detecting GPS receivers on earth. The GPS data obtained in this
study was sent to a remote server via GSM and GPRS and
turned into a real-time tracking system. The location of the GPS
device can be monitored instantly by observing the application
map screen from devices such as computer and phone. This
monitored location has a certain delay considering the factors
such as the arrival time of the GPS data to the device and the
time the device connects to the internet. The system operates
with a delay of 4 - 5 seconds. In addition, the Geofence field is
used to alert the device when it moves away from a specified
location. As the Geofence area, a predetermined polygon on the
map can be used or the polygon area drawn during the
application can be used as Geofence. On the application screen,
an audible warning is given when leaving the Geofence area.
GPS does not always show the exact correct position; it has a
certain margin of error. Many factors affect this margin of
error. This causes the application to give false alarms and
operate with the wrong location. In order to reduce this error,
the error rate was tried to be reduced by using Kalman filter,
logistic regression analysis and moving average filter. Normally
the error margin of up to 15 meters is considerably reduced by
these filters.
Keywords—GPS, GSM, GPRS, Geofence, Kalman Filter, Moving
Average, Logistic Regression Analysis
I. INTRODUCTION
Today, most people think of GPS when it comes to location
service. Although GPS is known as a popular location service
around the world, these two services, together with the
Russian alternative GLONASSS (Global Orbiting
Navigation Satellite System), are part of a system called
GNSS (Global Navigation Satellite System). There are
different location services developed by India, China and
European countries. Since it is the first service, it is generally
known as GPS. GNSS is briefly defined as a set of satellites
that send signals from satellites in space and are used for
global positioning. GNSS receivers, such as mobile phones,
can detect their own position by decoding signals that are sent
by orbiting satellites that contain data such as positioning and
timing. The higher the number of satellites that a GNSS
receiver receives, the higher the accuracy of the calculated
position, but the performance of GNSS services does not
978-1-7281-3789-6/19/$31.00 IEEE
Bülent TUĞRUL
Ankara University
Computer Engineering
Ankara,Turkey
btugrul@eng.ankara.edu.tr
depend solely on the number of satellites. There are four
factors that affect the performance.
1. Accuracy: Distance, speed, time difference between the
measured position and actual position.
2. Integrity: Providing accurate alarm and information in
unexpected and unwanted conditions
3. Continuity: System continues to operate without
interruption
4. Availability: The period in which the transmitted signal
provides three other factors and the system is running.
If these conditions are not sufficiently fulfilled, GNSS
services will improve with support from satellite-based local
development systems. GPS is now widely used for both
military and civilian purposes. Navigation of land, air and sea
vehicles, missile guidance, finding targets, determination of
the position of the aircraft in limited or not, such as military
use; animal, vehicle, infant tracking systems, cadastral
surveys, surveys for geodetic and geodynamic purposes,
development of geographic information system databases.
There are 24 satellites of the United States Department of
Defense. Three of them are reserved. These satellites emit a
kind of radio signal. This signal contains the position and
time of the satellite. The GPS device calculates its position
with the position and time information sent by the satellites.
The GPS device calculates the latitude and longitude values
when it sees three satellites. As the number of satellites
increases, the accuracy of the position information increases.
In the open air, a GPS receiver can see at least 4 and at most
12 satellites. The satellites are placed in orbit accordingly.
GPS devices produce data in NMEA standard as a result of
their calculations. This is important for the proper use of GPS
coordinates [11].
Global System for Mobile Communications is abbreviated as
GSM. It is the most common mobile phone network in the
world. The user can access and make calls to all countries of
the world on the same line. GSM uses the cellular network as
standard.
GPRS stands for "General Packet Radio Service". GPRS is a
mobile data technology that enables data transfer over mobile
phone receivers. Uses packet-switched data transfer. Allows
you to connect to the Internet. Packet-switched data
communication means that the data is separated into packet-
named pieces and then reassembled according to the
sequence number. The Internet network generally works with
this technology.
This study was planned as a real-time tracking system. This
vehicle monitoring can be used in the follow-up of children
or in case of loss of Alzheimer's patients. In short, the location
is followed wherever the device is located. The methods used
in tracking systems are very different, sometimes
communicating via text message, sometimes only data is
stored in the memory card.
In this application, GPS data can be sent to a remote server
and tracked on the map. After the data sent using GPRS
technology is saved to the database, it can be actively used in
different applications. However, it takes a certain time for the
signals received from the satellite to be received and sent to
the remote server. This delay varies between 3 - 8 seconds in
the device we use.
As it is understood from the study, it consists of two parts.
The first is to receive GPS position data using the Sim908
device and send the data to a server using GSM and GPRS
technologies. The second is the display of GPS data via web
or Android application. It is very difficult to follow a location
on the application screen. For example, it is not an effective
solution to monitor and monitor a child for 24 hours. The
child can play for hours without leaving the park boundary.
In order to find solutions to such situations, the ability to
make geofence on the map screen has been added. Geofence
can be briefly defined as a geographical restriction. It is a
system that warns when going out from a certain area. A child
can be given an example of the target to be followed and the
parking area where he plays is an example of a Geofence area.
Parents of the child can use the devices we use on the child
in the form of electronic bracelets to follow up and be aware
of the situation. As soon as the child steps out of the Geofence
area, his / her parents can be warned by SMS, voice alert or
mail. Geofence is designed in two kinds. The first one is static
geofence, the polygon area defined herein are used as
geofence. The second one is followed by the dynamic
geofence and the map is used as a geofence area without
recording the polygon. The advantage of this is to make new
drawings at any time and actively use the work.
There are many causes of errors in the GPS data. A few of
these are weather conditions, reflections in the atmosphere,
and the reflection of the signals hitting buildings. This error
rate may vary depending on the device used, the weather
conditions at the location and the density of the building.
Although the error in the data is caused by many reasons, the
error rate can be reduced by making corrections on the data.
There are various approaches to reduce the error rate. In this
study, the error was tried to be reduced by moving average
and Kalman filter. The average filter is based on the
mathematical average of the data received. The moving
average filter, on the other hand, is used for data that travels
in a time-dependent series. For example, averaging 10 data,
including new incoming data, is estimated at the next point.
This results in a high reduction of the error in the data that
makes a sudden jump. Makes distribution softer. The amount
of error reduction can be understood when the actual value of
the data is known. In order to create this test medium, 3 points
with known actual location were determined. Where these
points are located, measurement was performed with the
device. On the data obtained, error reduction process was
performed with moving average and Kalman filter.
Kalman filter is a method that can estimate the values of
systems in many different fields. In mathematical terms, the
Kalman filter predicts the states of a linear system. Generally
used in GPS systems. It was also used in this study and tested
how much it reduces the error.
II. RELATED WORKS
As the study is comprehensive, various fields and scientific
studies have been utilized. Arduino and Sim908 related part
of the embedded software, GSM and GPRS related part of the
data communication, NodeJS used part of the web software
and leaflet and map software were completed by the technical
part of the project. Studies to improve the accuracy of GPS
data have also been handled separately.
In one study [1], a GPS and GSM based tracking system was
studied. They designed a vehicle tracking system as a
different and practical model. Compass sensor YAS529 and
Accelerator sensor KXSC72050 were used. The direction of
the vehicle is estimated and followed by SMS and GPRS. In
another vehicle tracking system study [2], GPS, GSM and
GPRS were used. The geofence area is already defined in the
system and is circular. When this field is exited, it is provided
to be alerted by SMS. The entrance and exit of the Geofence
area gives warning in case of stopping and moving of the car.
Google Maps API is used as a base map.
In one study [3], a car was designed as an anti-theft system.
GSM and GPS module is used and the vehicle is stolen with
a vibration sensor. The system is in constant contact with the
owner of the car. Likewise, the purpose of the vehicle
tracking and security system study using GPS GSM modules
[4] is to perform real-time tracking of bus transportation
between the cities. When the car crashes and theft reports.
Written in the article of tracking system [5], GPS and GSM
are used in the same way.
There is an improved study to follow animals in wild-life [6].
It is a study that can be used in endangered and prohibited
animals. In a project [7], a follow-up project was developed
to avoid getting lost while travelling. There is another study
in the form of a system that prevents intruders from entering
[8].
There are also studies developed on Arduino. [9] In the study
where Telit-gl865 device and GPS click device were used,
the only tracking system was developed. In another study
developed with Sim900 device, [10] geofencing features
were added.
III. MATERIALS AND METHOD
Devices, libraries, systems and algorithms used in this section
will be introduced in general.
A. Arduino
Arduino is an electronics development board. It has its own
processor inside. Codes are loaded and executed from the
development interface via computer. The Arduino cards are
equipped with AVR microcontrollers from Atmel. Arduino
consists of an IDE (Integrated Development Environment),
Arduino bootloader, libraries, microcontroller called
AVRDude and software compiler. In this study, Arduino Uno
was used.
B. Sim908
Sim908 has GSM and GPS modules together. Designed to
work with Arduino and Raspberry Pi. The AT commands are
given in the instruction manual are communicated.
Fig. 1. Arduino and sim908 module [12]
The connections are as shown in fig-1. The SIM (Subscriber
Identity Module) card and GPS and GPRS receivers are
installed. It is then integrated into the Arduino. Pin
adjustments should be made as shown in the Fig 1.
The Arduino board is connected to the computer with a cable.
The Arduino IDE is loaded with the necessary code and is
enabled to run. First, GPS data is received. A data set in
NMEA format is obtained. This data is processed instantly
and sent to a remote server via GPRS. HTTP Get methods are
used. Although much data was obtained, latitude, longitude,
altitude and time data were sent. Data can be sent at intervals
of 3 to 5 seconds.
C. NodeJS
NodeJS is a runtime JavaScript platform that can be used for
both background and foreground applications. The structure
is asynchronous. Therefore, instead of making requests one
by one, it does it in parallel. After each request, a function is
called to indicate that the request is finished and this structure
enables real-time applications, games and instant messaging
applications. NodeJS has been preferred because speed and
performance are the most important factors in the real-time
tracking system application. The GPS data from the
background is continuously checked and shown on the map
in real-time. NPM (Node Packaged Modules) is a package
manager that we can easily download and install libraries. It
allows you to easily add modules written by other developers
to the project and develop faster applications. [13]
Using a library called Express.js, server creation, setup, and
execution are performed. Thanks to this library, various
settings are made automatically instead of making them one
by one. [14] Gulp is a Javascript task manager. It performs
each given task in the file “Gulpfile.js ile respectively. This
automates and accelerates all the processes we need to do
before compiling. For example, one of the given tasks is to
reduce the used Javascript libraries to file_name.min.js. All
we need to do is show the path to the javascript libraries and
define the task. It reduces the operating time by automating
operations [15].
D. Leaflet.js
The leaflet is an open-source JavaScript library written to
create maps. Although Openlayers has alternatives like
Google Maps API, it is preferred because it is very flexible,
easily developed and customizable. A large number of plug-
in libraries are available from Github and can be customized
to suit your usage needs. Leaflet supports its own GeoJSON
format and other map data formats. The GeoJSON format
allows the JSON data format to be used in mapping
applications. In other words, the values that we can use on the
map such as point, polygon and line are in a certain format.
GeoJSON has added flexibility and speed to the Leaflet
library. Data can be added and processed in a single layer.
Leaflet Realtime is a library that can simultaneously display
data from a web service without refreshing the map screen.
The most important feature of the study is actually in this
library. It allows the data sent from the device to be displayed
instantly on the map.
E. Kalman Filter
Kalman Filter was first discovered by Rudoff Kalman. It is a
filter that is dynamic and can predict the location of the next
system in a system with known state space using previous
data. If there is scholastic or random noise in the system, the
Kalman filter works very well [16]. The real purpose of the
Kalman filter is to reduce errors in the covariance matrix. The
basic Kalman filter accepts measurement results as a linear
system, but not many systems in the real world. For this
reason, the Kalman filter has been developed and diversified.
In this study, a linear Kalman filter was used.
F. Moving Average Filter
The average algorithm is to obtain a certain number of data
and divide it by the number of data. Moving average filter is
averaging according to filter size with the FIFO structure by
taking a certain number of data. It is a simple but effective
filter.
G. Logistic Regression Analysis
Linear regression is a statistical method for summarizing the
relationships between binary and continuous data. Defines
the relationship between dependent and independent
variables. This is also used for time-varying data. Logistic
regression is used to analyze data with one or more
independent variables that determine the outcome. In short, it
can be thought of as a classification problem, which depends
on many variables, and the result is yes or no. As a result, find
the most suitable model. It is used in many different
problems. Provides efficient classification when working
with nonlinear data. Or find the right truth for them.
IV. RESULTS
A. System Architecture
The general operation of the system is shown in the Fig. 2.
The received GPS data was processed and sent to a remote
server. Then, it was turned into a real-time tracking system
with the location information shown on the map application.
Fig. 2. System Architecture
To summarize briefly, Arduino Uno and Sim908 were used
together in this study and the data were taken and recorded to
a remote server. After writing our codes on Arduino IDE, we
connect our device to the computer with a USB. The
appropriate port setting is made on the computer. The baud
rate for the Sim908 device is 11500. AT instruction sets are
used for communication with the Sim908 device. It is
necessary to put waiting times between these commands.
More or less this time affects performance. 2000 ms. After
the code installation, our program will try to communicate
with Sim908. In order to activate at this stage, we need to
press the ON-OFF button on Sim908. After waiting for a
certain time, whether the connection is established or not is
determined by the led light. Firstly, the GPS module
communicated with the location data. Adjustments are made
to position each second. The received NMEA data is prepared
to be segmented and sent. Latitude, longitude and time data
were used. Since the size of the data to be sent via GPRS
affects the transmission speed, the minimum amount of data
we need is selected. HTTP Get methods were used to send
the data.
Our data was transmitted approximately every 4 -5 seconds.
On the server-side, a service is written and recorded to the
database of received data. The data recorded in the database
is obtained through SQL queries and displayed on our web
application screen. Important data is the most recently added
current data. This data is queried and displayed on the map
screen. The 10 most recently added data are also shown for
visualizing the route.
Fig. 3. Application screen using all libraries
Web application developed with NodeJS and Leaflet.js is
used on the map screen. Leaflet-pip and Leaflet-realtime
libraries were used for Geofence. Leaflet pip works based on
a point in polygon algorithm.
Fig. 4. Geofence application
It is tested whether the GPS coordinate we have is in a
specified polygon. While a polygon registered in the
background can be used as a geofence area, the online drawn
polygon area can be used as a geofence area without saving
it to the database. The ability to do so has given the project
flexibility and ease of use. Since there are 2 different uses,
the nomenclature has been named as static geofence and
dynamic geofence. A static geofence is the use of the polygon
registered in the database as the geofence field, while
dynamic geofence is used as the non-registered polygon as
the geofence field.
B. Increasing GPS Accuracy
Two different problems were encountered while working
with GPS. The first is that GPS data has a margin of error.
There are many reasons for these errors. Weather conditions,
atmospheric breaks, a reflection of signals from tall
buildings, time difference between satellites and GPS device
are some of these reasons. As a solution, some algorithms and
techniques have been used to reduce the margin of error to
the data we have recorded in the database. Moving average
filter, logistic regression analysis and Kalman filter were
evaluated as solutions for this problem. The second problem
is that the data are not taken at some time values for various
reasons. This can be ignored in data received per second, but
it is a problem that GPS data of a migrant animal is sampled
once an hour. The next position can be estimated without
error reduction.
Algorithms can be used to measure with GPS device, but data
with an error rate of 0 is needed to compare the accuracy of
the algorithms. For this reason, 3 points were determined and
the measurement of the sim908 device was compared with
the measurement made by the device with an error rate of 0.2 V. CONCLUSION
cm. Three locations were determined and 100 measurements In this study, real-time tracking and geofence were
were taken and the results of the algorithms used were performed. As described in the literature review, previous
compared. The data were based on time series analysis studies only perform real-time follow-up. In addition, some
because of the continuous error. have a simple geofence. This geofence was performed by
measuring the distance between the coordinates on the
hardware side. In this study, the geofence process is
performed on the map application screen after the data is
transferred to the server-side. Not only the circle but also the
polygons connected to the user's drawing can be used as
geofence. In real-life applications, the smooth circle-shaped
geofence area is useless. This problem was solved by defining
geofence in the form of polygon.
The application can be used for tracking children. If the child
is playing in the yard of the house and the geofence area is
determined to cover the perimeter of the house, it will give a
warning when the child moves away from the house.
Fig. 5. Position 1 GPS error reduction
According to this scenario, the geofence area is customized
in two ways as static and dynamic. Static predefined polygon.
The home where the child lives is always defined as static
because the school he/she goes to is always immutable. The
fact that the polygon drawn in real-time in a newly travelled
area can be used as a geofence without saving is defined as
dynamic geofence and has provided a very flexible use to the
study.
NodeJS is preferred as a web system. Both server-side and
user-side are written in the JavaScript language. It is more
secure than other systems because it only sends HTML output
to the user part. The Leaflet library is also an open-source
Fig. 6. Position 2 GPS error reduction mapping software library. A user-friendly web application
was written using it with different libraries.
GPS data has errors for various reasons. It is aimed to reduce
the error rate in the data in order to make the system run faster
and to be stable. As stated in the literature summary section,
this issue is very much focused and various algorithms have
been developed. The most preferred of these was the Kalman
filter. The comparative results of the three methods are given.
Moving average, logistic regression and Kalman filter were
applied for error reduction. In the moving average, the
parameter value which decreases the error the most is
determined as 10 and used in this way. In this algorithm, it is
a negative situation that no estimation value is obtained for
Fig. 7. Position 3 GPS error reduction the first 10 data. The input parameters of the Kalman filter
are also important for use with GPS data. The parameter
The figures show a comparison of the results of the value used in logistic regression analysis is 9. In order to
algorithms. Mean square error method was used to compare determine whether our algorithm results are working
the error rates of the data. According to the results obtained, correctly, we need accurate and accurate values of the tested
the algorithm that reduces the error the most is the Kalman GPS data. For this reason, 3 points were determined and
filter. measurements were made at these points. The actual value of
the received position is based on a more advanced GPS
TABLE I. MSE ERROR RATE COMPARISON
device with a margin of error of 1-2 cm. Kalman filter reduces
Location
Moving Logistic
Kalman Filter
the most errors for all positions in the comparison with this
Average Regression value. The experiment was conducted outdoors and in a low-
Point1 Lat 0.339551 0.232372 0.030419 density building. Therefore, the average error value for our
Point1 Lon 0.400679 0.297516 0.003212 data is around 2 meters.
Point2 Lat 0.020859 0.013332 0.001970
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