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Building a Dedicated
GSM GPS Module
Tracking System for
Fleet Management
Hardware and Software
Building a Dedicated
GSM GPS Module
Tracking System for
Fleet Management
Hardware and Software

Franjieh El Khoury
Antoine Zgheib
CRC Press
Taylor & Francis Group
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Boca Raton, FL 33487-2742

© 2018 by Taylor & Francis Group, LLC

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Library of Congress Cataloging-in-Publication Data

Names: El Khoury, Franjieh, author. | Zgheib, Antoine, author.

Title: Building a dedicated GSM GPS module tracking system for fleet
management : hardware and software / Franjieh El Khoury, Antoine Zgheib.
Description: Boca Raton : Taylor & Francis, 2018. | Includes bibliographical
references.
Identifiers: LCCN 2017044898 | ISBN 9781498767026 (hb : alk. paper)
Subjects: LCSH: Motor vehicle fleets--Equipment and supplies. | Automatic
tracking. | Global Positioning System--Industrial applications.
Classification: LCC TL165 .E423 2018 | DDC 629.2/72--dc23
LC record available at https://lccn.loc.gov/2017044898

Visit the Taylor & Francis Web site at

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To the people who made significant contributions to our life,
We dedicate this work.
After the rain, nice weather always ends up coming…
Contents

Acknowledgments xi
Introduction xiii

C h a p t e r 1 G l o b a l P o s i t i o n i n g S y s t e m (GPS) 1
1.1 General Overview of Global Positioning System (GPS) 1
1.2 Locating a Position with the GPS Receiver 3
1.3 Segments of GPS 4
1.3.1 Space Segment 5
1.3.2 Control Segment 5
1.3.3 User Segment 6
1.4 Different Types of GPS Receivers 6
1.4.1 Consumer Model 6
1.4.2 U.S. Military/Government Model 7
1.4.3 Mapping/Resource Model 8
1.4.4 Survey Model 8
1.4.5 Commercial Transportation Model 8
1.5 Application Fields of GPS Receivers 8
1.5.1 Aviation 9
1.5.2 Marine 9
1.5.3 Farming 9
1.5.4 Science 10
1.5.5 Surveying 10
1.5.6 Military 10
1.5.7 Sports 11
1.5.8 Fleet Management 11
1.6 Conclusion 12

VII
VIII Contents

C h a p t e r 2 E l e c t r o n i c E q u i p m e n t for a GPS S y s t e m 13

2.1 Introduction 13
2.2 Classification of Microcontrollers 13
2.2.1 Classification of Microcontroller Based on
Number of Bits 14
2.2.2 Classification of Microcontroller Based on
Memory Devices 14
2.2.3 Classification of Microcontroller Based on
the Instruction Set 15
2.2.4 Classification of Microcontroller Based on
Memory Architecture 15
2.3 Types of Microcontrollers 16
2.3.1 8051 Microcontroller 16
2.3.2 Peripheral Interface Controller (PIC)
Microcontroller 17
2.3.3 Advanced RISC Machines (ARM)
Microcontroller 18
2.3.4 Alf-Egil Bogen and Vegard Wollan’s RISC
(AVR) Microcontroller 18
2.4 Comparison of the Different Microcontroller Types 20
2.5 Future Technology Devices International (FTDI) 22
2.6 Programmer 22
2.7 Bootloader 22
2.8 Cables and Connectors 23
2.9 SD Card 24
2.10 GPS Antenna 25
2.11 GPS Camera 26
2.12 Audio Kit 26
2.13 Conclusion 27
C h a p t e r 3 C o m m u n i c at i o n M o d u l e s and Protocols 29
3.1 Introduction 29
3.2 Different Communication Modules 30
3.2.1 Global Positioning System (GPS) Module 30
3.2.2 Global System for Mobile Communications
(GSM) Module 32
3.2.3 Satellite Module 33
3.3 Recapitulative Table of Comparison of Different
Communication Modules 35
3.4 Different Communication Protocols 35
3.4.1 Communication Protocols of Microcontrollers 38
3.4.1.1 Universal Asynchronous Receiver/
Transmitter (UART) Protocol 38
3.4.1.2 Serial Peripheral Interface (SPI)
Protocol 39
3.4.1.3 Inter-Integrated Circuit (I2C)
Protocol 41
 Contents IX

3.4.2 Comparison of the Different

Communication Protocols of Microcontrollers 43
3.4.3 Internet Communication Protocols 43
3.4.3.1 Transmission Control Protocol (TCP) 45
3.4.3.2 User Datagram Protocol (UDP) 45
3.4.3.3 Hypertext Transfer Protocol
(HTTP) and Hypertext Transfer
Protocol Secure (HTTPS) 46
3.4.3.4 File Transfer Protocol (FTP) and
File Transfer Protocol Secure
(FTPS) 47
3.4.3.5 Simple Mail Transport Protocol
(SMTP) 49
3.4.3.6 Post Office Protocol (POP3) 49
3.4.4 Comparison of Different Internet
Communication Protocols 50
3.5 Conclusion 52

C h a p t e r 4 P r o g r a m m i n g M i c r o c o n t r o l l e r 53
4.1 Introduction 53
4.2 Development System of Microcontroller Applications 55
4.3 Programming Languages 56
4.3.1 Assembly Language 56
4.3.2 C Programming Language 57
4.3.3 Lua Programming Language 58
4.4 Recapitulative Table of Comparison of Different
Microcontroller Programming Languages 59
4.5 ATtention (AT) Command 59
4.6 NMEA Sentence and GPRMC Sentence 61
4.7 Conclusion 62

C h a p t e r 5 O u r P r o p o s e d M o d e l : I n f E l e c P h y GPS U n i t 63
5.1 Introduction 63
5.2 Proposed Model InfElecPhy GPS Unit (IEP-GPS) 64
5.2.1 Architecture of the Model IEP-GPS with
Microcontroller 65
5.2.2 Architecture of the Model IEP-GPS
without a Microcontroller 67
5.3 Representation of Interactions between Different
Actors of the Model IEP-GPS 70
5.3.1 Interactions between Different Actors of the
Model IEP-GPS with a Microcontroller 70
5.3.2 Interactions between Different Actors of the
Model IEP-GPS without a Microcontroller 72
5.4 Composition of the Model IEP-GPS 74
5.4.1 Module 1—Obtaining a Location and
Posting to the Web 75
5.4.2 Module 2—Sending SMS as an Alert Message 76
X Contents

5.4.3 Module 3—Sending a Photo by E-mail

Using the SMTP Protocol Service 78
5.5 Conclusion 79

Chapter 6 A p p l i c at i o n 81
6.1 Introduction 81
6.2 Obtaining a Location and Parsing to the Web 81
6.2.1 Code in C 81
6.2.2 Code in Lua 83
6.2.3 Code in the AT Command 85
6.3 Sending SMS 88
6.3.1 Code in C 88
6.3.2 Code in Lua 88
6.3.3 Code in the AT Command Set 91
6.4 Sending a Photo by E-Mail Using the Simple Mail
Transfer Protocol (SMTP) Service 93
6.4.1 Code in C 93
6.4.2 Code in Lua 97
6.4.3 Code in the AT Command Set 98
6.5 Tracking of a Given User on Google Maps Using the
Application OpenGTS 101
6.6 Conclusion 105

C onclusion and Perspectives 107

References 109
Index 117
Acknowledgments

First, we would sincerely like to thank all the members of CRC Press/
Taylor & Francis Group for their patience and support, especially the
Chief Editor Mr. Rich O’Hanley.
We would like to thank the open source application OpenGTS’s
development team for their guidance, and to Mr. Martin Flynn, in
particular.
We are especially grateful to “Libelium” and the marketing depart-
ment for their efforts to provide us with the necessary documentation
and full support in allowing us to use their products.
The expression of our sincere gratitude goes to the members of the
ERIC Research Lab, especially Professor Marcel Egea and Professor
Stephane Bonnevay, for their professional encouragement.
Thanks also to Mr. Gilles Cattan, Engineer and Former Director
of R&D of SFIM industries for his advice and moral support.
We sincerely thank all of our families for all the sacrifices they
made so we could achieve our goal.

XI
Introduction

The rapid evolution of the GPS module tracking systems for fleet
management using customized commercial applications as well as
open source applications (e.g., OpenGTS) have increased the net-
work’s constraints in terms of usage. In the last few years, 3G modules
have proven their applicability in providing efficient information to
the end user (e.g., real time geolocation). Furthermore, the integration
of microcontrollers has evidently been efficient in resolving several
problems in GPS devices.
There were difficulties encountered from the disconnection of a
network to collect the information from a satellite, the cost of using
the Internet to download the data, and the non-adaptability of the
open source applications (e.g., OpenGTS) with some GPS devices
to manage the data and edit the required reports. These difficulties
were in regard to getting accurate information about a location, with
increases in the risk of losing data and the cost of developing custom-
ized application, as well as causing problems to accessing and to col-
lecting the required data.
In order to provide the end user with accurate GPS information and
guarantee the access to collecting the required data at any moment,
our study focuses on the development of the model INFelecPHY
GPS Unit (IEP-GPS) tracking system for fleet management that is
based on 3G and general packet radio service (GPRS) modules. This

X III
XIV Introduction

model should offer reliability since it deals with several protocols: (1)
HTTP and HTTPS to navigate, download and upload in real time
the information to a Web server, (2) FTTP and FTTPS to handle in
a non-real time the files of the Web application, and (3) SMTP and
POP3 to send and receive e-mail directly from the unit in case of any
alert.
This model is similar to a mobile device, but without a screen for
display. It is multifunctional, since it will be linked to a GPRS mod-
ule, a camera, a speaker, headphones, a keypad, and a screen. This
model will provide accuracy, since it will work when we do not have a
connection to the network to store on a SD card socket the necessary
tracking information and will be sent automatically once connected to
the Internet during the idle time.
Our proposed model IEP-GPS is compatible with the open source
application, OpenGTS, to do tracking for vehicles on various types
of maps and edit various reports. Also, this model solves the problem
of accessing and collecting the data from the server of the provider
company, when there is no Internet connection, by integrating the
feature of implementation of the application on the local server of the
company.
Therefore, our work focuses on the development of dedicated 3G
module tracking systems and microcontrollers in order to provide
greater efficiency in the IEP-GPS model. Our approach aims to
improve the existing models for the storage of the information, when
there is a disconnection from the network, as well as its flexibility to
gather the required information for the company without the need
of the Internet with less cost and in a faster time than the existing
systems.

Presentation of the Book

This book is composed of several chapters to achieve a relevant model

able to provide accurate information and guarantee access for collect-
ing the required data at any moment.
In Chapter 1, we define the Global Positioning System (GPS) and
the method to locate a position by the GPS receiver. In addition,
we detail the different segments of GPS, the different types of GPS
receivers, and the application fields of GPS receivers.
 Introduction XV

We develop in Chapter 2 the different electronic equipment for a

GPS system by providing the classification of microcontrollers and
their different types with the effectiveness of each type. As well, we
detail the Future Technology Devices International (FTDI), the pro-
grammer, the bootloader, the cables and connectors, the SD card, the
GPS antenna, the GPS camera, and the audio kit.
In Chapter 3, we present the various communication modules with
the effectiveness of each module. We also detail the different commu-
nication protocols with the effectiveness of each protocol to exchange
the information with the connected external physical peripherals and
the various Internet communication protocols with the effectiveness
of each protocol to transmit the required data from the GPS unit to
the end user.
We describe in Chapter 4 the development system of microcontroller
applications and the various programming languages of the microcon-
trollers with the effectiveness of each language. Also, we detail the
ATtention (AT) command to control the modem function, and we
present the National Marine Electronics Association (NMEA) sen-
tence and the GPS recommended minimum data (GPRMC) sentence
format to convert into them the received GPS information from the
satellite.
In Chapter 5, we propose our model IEP-GPS, based on the
GPRS/3G module, to transmit the information from the IEP-GPS
device to the end user, and the architecture of the model with and
without integration of a microcontroller. Moreover, we detail the
interactions between the different actors of the model for both pro-
posed architectures of the model. Furthermore, we describe the three
modules of the composition of the model: (1) obtaining a location
and posting to the Web, (2) sending SMS as an alert message, and
(3) sending photos by e-mail using the SMTP protocol service.
Chapter 6 is devoted to the development of the three modules of
our proposed model in C programing language, Lua scripting lan-
guage, and the AT command set. In addition, we illustrate a simu-
lation on tracking the history path of a given user and showing the
details about the first location when moving out of the geofence.
Finally, we conclude with a summary of all the accomplished work
and recommendations that can be realized in the near future.
 1
G lo bal P ositionin g
System (GPS)

1.1 General Overview of Global Positioning System (GPS)

According to Michael Dunn (Dunn 2013) and Joel McNamara

(McNamara 2004), Global Positioning System (GPS) is known
as NAVSTAR (Navigation Satellite Timing and Ranging) GPS.
It provides geolocation and time information to a GPS receiver in
all weather conditions. It works independently of any telephonic or
Internet reception.
GPS is defined by Joel McNamara (McNamara 2004) as a smart
satellite system that can pinpoint a position anywhere on planet
Earth. GPS is a radio receiver measuring the distance from a given
location to satellites that orbit the Earth broadcasting radio signals.
The GPS receiver needs to get the location from a minimum of three
satellite signals. Moreover, it requires four satellite signals to get the
position in three dimensions (i.e., latitude, longitude, and elevation).
GPS is used for navigation and location positioning by the military,
the government, and civilians; however, radio signals have been used
for navigation since the 1920s.
According to Luc Aebi (Aebi 2007), the LORAN (Long Range
Navigation) system was developed during World War II to measure
the time difference between sending and receiving radio signals. The
LORAN system is used for maritime navigation, and it works by
obtaining the position in two dimensions (i.e., latitude and longitude).
In 1957, the Russians launched the first satellite, Sputnik, to orbit
the Earth by using a radio transmitter to broadcast telemetry infor-
mation (McNamara 2004).
In 1959, the first satellite in radio navigation, TRANSIT, was
launched using helpful and reliable technologies for the GPS system
(Aebi 2007).

1
2 Building a GSM GPS Module Tracking System

By the 1960s, the U.S. Army, Navy, and Air Force were all working
on independent versions of radio navigation systems (i.e., primary sat-
ellite positioning systems) that could provide accurate positioning in
all weather conditions and 24/7 coverage (McNamara 2004). In 1973,
the Air Force consolidated all the military satellite navigation efforts
into a single program, the NAVSTAR Global Positioning System,
which was launched in 1974 to test the concept.
In April 1980, the first satellite GPS was launched by the U.S.
Department of Defense (DoD) to make the system functional
(Aebi 2007). In 1982, the DoD reduced the GPS constellation of
satellites from 24 to 18 owing to budget cuts. Then in 1983, GPS
was available for civil aviation use. In 1988, the GPS constellation of
­satellites was increased from 18 to 21 plus three spare satellites.
In 1990, the first GPS receiver for the general public was marketed
by TRIMBLE (Aebi 2007). At the same time, the DoD decided to
establish a known signal degradation system, SA (selective availabil-
ity). This system was activated in July 1991 after the first Gulf War,
but was finally removed in May 2000.
In 1994, the planned full constellation of 24 satellites was in place
and the system was completely operational (McNamara 2004), as
shown in Figure 1.1.
In addition to GPS, there are other systems in use or under devel-
opment that have the same functionalities as GPS, such as the Russian
Global Navigation Satellite System (GLONASS), the European
Union Galileo positioning system, China’s BeiDou Navigation
Satellite System, the Japanese Quasi-Zenith Satellite System, and
India’s Indian Regional Navigation Satellite System (NAVIC).

Visible sat = 12

Figure 1.1 GPS constellation. (Source: Jan, S. 2010. GPS Segments / Components.xa.yimg.com/
kq/groups/21620206/615119600/name/3.+GPS+Segments.ppt.)
 Global Positioning System (GPS) 3

1.2 Locating a Position with the GPS Receiver

The distance between the position of the GPS satellite and the GPS
receiver is calculated by using Equation 1.1 (Corvallis Microtechnology
2000; McNamara 2004; Raju 2004; TTU 2012).
Distance = speed × time (1.1)

In other words, a GPS receiver determines the amount of time it

takes the radio signal (i.e., GPS signal) to travel from the GPS satel-
lite to the GPS receiver. The GPS signal travels at the speed of light
(186 thousand miles per second). Both the GPS satellite and the GPS
receiver generate an identical pseudo-random code sequence. When
the GPS receiver receives this transmitted code, it determines how
much the code needs to be shifted (using the Doppler-shift principle)
for the two code sequences to match. Therefore, the shift is multiplied
by the speed of light to determine the distance from the GPS satellite
to the GPS receiver.
GPS satellites are orbiting the Earth at an altitude of 11 thousand
miles (Corvallis Microtechnology 2000; Raju 2004; TTU 2012).
Assuming that the GPS receiver and the satellite clocks are precisely
and continually synchronized, the GPS receiver uses three satellites
to triangulate a 3D position, then the GPS provides coordinates (X,
Y, Z) for a calculated position. However, a GPS receiver needs four
­satellites to provide a 3D position, as shown in Figure 1.2. Since the
GPS receiver clock is not as accurate as the atomic clocks in the satel-
lites, then a fourth variable T for time is determined in addition to the
three variables (X, Y, and Z). Moreover, the GPS signals travel from

Triangulation
Satellite 1 Satellite 2

Satellite 3 Satellite 4

Figure 1.2 Basic principle of positioning with GPS. (Source: TTU. 2012. Principles of GPS. In
Lectures documents, Geospatial Center, Texas Tech University, Texas, USA.)
4 Building a GSM GPS Module Tracking System

the GPS satellite to the GPS receiver very fast, thus, if the two clocks
are off only a small fraction of time, the determined position may be
inaccurate.
The DoD can predict the paths of the satellites vs. time with
great accuracy. It constantly monitors the orbit of the satellites look-
ing for deviations, known as ephemeris errors, from predicted values
(Corvallis Microtechnology 2000; McNamara 2004; TTU 2012).
Once these errors are detected for a given satellite, they will be sent
back up to that satellite, which broadcasts them to the GPS receiv-
ers as a standard message. Nowadays, the GPS receivers store the
orbit information, known as an almanac, for all the GPS satellites
(Corvallis Microtechnology 2000; McNamara 2004; TTU 2012).
Therefore, this information advises about the position of each satellite
at a particular time. Moreover, this information in conjunction with
the ephemeris error data can help to determine in a very precise way
the position of a GPS satellite at a given time.

1.3 Segments of GPS

We distinguish three types of GPS segments (El-Rabbany 2002;

Jan 2010; Neilan and Kouba 2000; Raju 2004; TTU 2012): the space
segment, the control segment, and the user segment, as shown in
Figure 1.3.

Space segment

User segment

Control segment

Ground
antennas
Master station Monitor stations

Figure 1.3 GPS segments. (Source: TTU. 2012. Principles of GPS. In Lectures documents,
Geospatial Center, Texas Tech University, Texas, USA.)
 Global Positioning System (GPS) 5

1.3.1 Space Segment

The space segment is composed of the orbiting GPS satellites or

space vehicles. Satellites orbit at an altitude of approximately 20,200
kilometers. Each space vehicle makes two complete orbits each
­sidereal day, repeating the same ground track. The orbits are arranged
to have at least six satellites within line of sight from almost every-
where on the Earth’s surface.
The space segments consist of 24 satellite constellations, eight each
in three circular orbital planes. Then, the GPS satellites are equally
distributed in each of the six orbit planes with four satellites each.
Each GPS satellite transmits a signal. Each signal contains a number
of components:
• Two sine waves known as carrier frequencies.
• Two digital codes.
• A navigation message.
The carriers and the codes are used to determine the distance from
the user’s receiver to the GPS satellites.
The navigation message contains the coordinates (i.e., location) of
the satellite as a function of time.
The transmitted signals are controlled by highly accurate atomic
clocks onboard the satellites.

1.3.2 Control Segment

The control segment of the GPS system is controlled by the U.S.

Army. It consists of a worldwide network of tracking stations, with a
Master Control Station (MCS) located in the United States.
The control segment aims to operate and monitor the GPS sys-
tem. The main objective of the control segment is to track the GPS
satellites in order to determine and predict satellite locations, system
integrity, behavior of the satellite atomic clocks, atmospheric data, the
satellite almanac, and other information. This information is uploaded
into the GPS satellites through the S-band link.
The control segment is composed of:
• A Master Control Station (MCS).
• An Alternate Master Control Station.
6 Building a GSM GPS Module Tracking System

• Four dedicated ground antennas.

• Six dedicated monitor stations.
The monitor stations are operated in the UK, Argentina, Ecuador,
Bahrain, Australia, and Washington, DC. In 2005, six more monitor
stations were added to the grid, which allows calculating more precise
orbits and ephemeris data, as well as a better position precision for the
end user.

1.3.3 User Segment

The user segment includes all military users (i.e., U.S. and allied
­military users) of the secure GPS Precise Positioning Service, all civil-
ian users, all GPS receivers and processing software, and ­commercial
and scientific users of the Standard Positioning Service.
With a GPS receiver connected to a GPS antenna, a user can receive
the GPS signals, which can be used to determine their ­position any-
where in the world.
Public users apply the GPS for navigation, surveying, time and
­frequency transfer, and other uses.
GPS is currently available to all users worldwide at no direct charge.

1.4 Different Types of GPS Receivers

We distinguish five types of GPS receivers (El-Rabbany 2002;

McNamara 2004; Rodgers 2007): consumer model, U.S. military/
government model, mapping/resource model, survey model, and
commercial transportation model.

1.4.1 Consumer Model

The consumer GPS receivers are easy to use and are targeted for rec-
reational and other uses that do not require a high level of location
precision. They can be found in sporting goods stores at a relatively
low cost. There are three main manufacturers for the consumer GPS
receivers in the market: Garmin, Lowrance, and Magellan GPS.
Consumer GPS devices can be installed as additional options on
handheld devices, mobile phones, smartphones, palm pockets, and
laptop PCs, as well as desktop computers. Most of the converged
devices include GPS phones and GPS cameras.
 Global Positioning System (GPS) 7

It is recommended to use the consumer GPS receivers with

12-channels and not 8-channels. Therefore, the consumer GPS
receivers with 12-channel parallel acquire satellite signals faster and
operate better under foliage and tree-canopy cover. However, the con-
sumer GPS receivers with 8-channels acquire satellite signals slowly
and hardly operate even under light tree cover. The consumer model
can be between 15 to 30 meters accurate.
We distinguish two types of consumer GPS receiver devices:
­dedicated devices and mobile devices.

• Dedicated devices have various degrees of mobility (e.g.,

handheld, outdoor, or sport) suitable for hiking, bicycling, and
other activities. Dedicated devices have replaceable batteries
that can be run for several hours. They have small screens,
some do not show color to save power, and some use transflec-
tive liquid-crystal displays to be used in bright sunlight. Their
cases are sturdy and some are water resistant.
• Mobile devices are used in cars, but have a small recharge-
able internal battery that can power them for an hour or two.
They are installed permanently or are removable and depend
entirely on the automotive electrical system.

1.4.2 U.S. Military/Government Model

The U.S. military/government devices similar to consumer sport

products are used for commanders and regular soldiers, small
vehicles, and ships. Also, the devices similar to commercial avia-
tion products are used for aircraft and missiles. Prior to May 2000,
only the United States had access to the fully accurate GPS; how-
ever, consumer devices were restricted by selective availability (SA).
Therefore, the Differential GPS (DGPS) is a method to cancel the
error of SA and improve GPS accuracy. The DGPS has been avail-
able in commercial applications (e.g., golf carts). The GPS is limited
to about 15 meter accuracy even without SA, whereas DGPS can be
within a few centimeters.
The newest precise GPS receivers are Defense Advanced Global
Positioning System Receivers (DAGRs). They are smaller, accurate,
and have mapping features similar to consumer GPS units.
8 Building a GSM GPS Module Tracking System

1.4.3 Mapping/Resource Model

The mapping/resource devices collect location points and line area

data that can be input into a Geographic Information System (GIS).
They are more precise than consumer models. Their accuracy in real
time can be less than a meter, and in post processing can be between
1 to 50 centimeters. They can also store more data and they are much
more expensive than consumer models.

1.4.4 Survey Model

The survey GPS receivers are used for surveying land, where there
is a need of accuracy down to the centimeter for legal or practical
­purposes. They are extremely precise and store a large amount of data.
They are very expensive compared to consumer models and they are
complex to use.

1.4.5 Commercial Transportation Model

The commercial transportation GPS receivers are installed on aircraft,

ships, boats, trucks, and cars. They are not designed to be handheld.
They provide navigation information related to the transportation.
They calculate location and feed that information to large multi-input
navigational computers for autopilot, course information and correc-
tion displays to the pilots, and course tracking and recording devices.
They are accurate to within 10 meters. The first professional GPS
receiver on the market was Trimble Navigation.

1.5 Application Fields of GPS Receivers

Nowadays, mobile GPS technology has enabled smartphones with

­convenient and highly efficient means for end users to receive ­navigating
instructions via a global positioning system process called trilateration
(Rouse 2016). Moreover, a phone’s built-in GPS receiver communi-
cates with an array of satellites, which provides navigation instruc-
tions for those either in an automobile or on foot. Therefore, advanced
phones can identify individual streets and attractions on maps, as well
as provide narrated tracking capability.
 Global Positioning System (GPS) 9

GPS receivers are used by civilians, pilots, boat captains, farm-

ers, surveyors, scientists, and the military in several fields to pro-
vide accurate positioning. Among these fields, we can list aviation,
marine, farming, science, surveying, military, sports, and fleet
management.

1.5.1 Aviation

A GPS receiver is used in all aviation in all modern aircraft (AuScope

2014). It provides pilots with a real-time aircraft position and map of
each flight’s progress. Moreover, GPS receivers allow airline operators
to pre-select the safest, fastest, and most fuel-efficient routes to each
destination and ensure that each route is tracked closely when the
flight is in progress.

1.5.2 Marine

A GPS receiver provides high accuracy for boats and ships (AuScope
2014). It allows captains to navigate through unfamiliar harbors, ship-
ping channels, and waterways without running aground or hitting
known obstacles. Moreover, a GPS receiver is used to position and
map dredging operations in rivers, wharfs, and sandbars. Therefore,
boat captains know precisely where it is deep enough for them to
operate.

1.5.3 Farming

GPS receivers are used by farmers on their agricultural equip-

ment (Andred-Sanchez and Heun 2011; AuScope 2014; Das 2013;
Roberson 2005). They help farmers to map their plantations and
ensure that they return to exactly the same areas when sowing their
seeds in the future. In other words, the GPS receiver aims to maxi-
mize the farmers’ crop production, since they rely on repeat planning
season after season. It will also allow farmers to continue working in
low-visibility conditions such as fog and darkness based on the GPS
position’s guidance instead of visual references. Moreover, a GPS
receiver provides high accuracy for mapping soil locations and allows
farmers to see where the soil is most fertile.
10 Building a GSM GPS Module Tracking System

1.5.4 Science

GPS receivers are used by scientists to conduct a wide range of experi-

ments and research, ranging from biology to physics to earth ­sciences
(AuScope 2014). Traditionally, scientists had to tag animals with
metal or plastic bands to track their various locations and monitor
their movement. Nowadays, scientists can fit animals with GPS col-
lars or tags that automatically log the animal’s movement and transmit
the information via satellite back to the researchers. This will provide
them more detailed information about the animal’s movements with-
out having to relocate specific animals.
On the other hand, earth scientists have installed high-accuracy
GPS receivers on physical features (i.e., glaciers or landslips) (AuScope
2014). This will allow them to observe and study both the speed and
direction of movement, helping them to understand how landscapes
change over time.
A GPS receiver can also be installed on solid bedrock to help
understand very small and very slow changes in tectonic plate motion
across the world (AuScope 2014).

1.5.5 Surveying

Surveyors have used GPS receivers, owing to its high accuracy,

instead of line-of-sight between their instruments for mapping and
measuring features on the Earth’s surface and under water (AuScope
2014). They have also used GPS receivers to determine land bound-
aries, to monitor changes in the shape of structures, or to map the
seafloor.
In the surveying domain, the GPS receiver is set up over a sin-
gle point to establish a reference marker, and it is used in a moving
­configuration to map out the boundaries of various features as well.

1.5.6 Military

The GPS system was developed by the U.S. Department of Defense

(DoD) for use by the U.S. military, but was later made available for
public use (Aebi 2007; McNamara 2004). GPS navigation has been
adopted by many different military forces around the world.
 Global Positioning System (GPS) 11

Nowadays, GPS receivers are used to map the location of vehicles

and other assets on various battlefields in real time, in order to man-
age resources and protect soldiers on the ground (AuScope 2014).
GPS receivers are also built in to military vehicles and other hard-
ware such as missiles, providing them with tracking and guidance to
­various targets at all times of the day and in all weather conditions
(Aebi 2007; AuScope 2014).

1.5.7 Sports

GPS receivers were applied to field sport applications in 2006 (Aughey

2011). GPS technology was rapidly used, especially in the measurement
of steady-state movement. While a GPS receiver has been validated
for applications for team sports, some doubts continue to exist on the
appropriateness of GPS for measuring short high-velocity movements.
Despite this, GPS receivers have been applied extensively in Australian
football, cricket, hockey, rugby union and league, and soccer.
Moreover, GPS receivers help to collect extensive information on
the activity profile of athletes from field sports, and this includes total
distance covered by players and distance in velocity bands (Aughey
2011). In addition, GPS receivers have been applied to detect fatigue
in matches, identify periods of most intense play, different activity
profiles by position, competition level, and sport. Recently, GPS
receivers have helped to integrate collected data with the physical
capacity or fitness test score of athletes, game-specific tasks, or tacti-
cal or strategic information.

1.5.8 Fleet Management

GPS receivers are applied for fleet management in terrestrial s­ ystems

(e.g., road and rail) to track the location of vehicles (Chatterjee
2009; Sharma, Kumar and Bhadana 2013; Wilson 2016). The ongo-
ing development of GPS for autonomous vehicles also provides the
greater accuracy and reliability that a vehicle requires in order to be
self-driving (Novatel 2010). Therefore, without accurate GPS, accu-
rate mapping, and an important collection of senors, they could not be
considered. GPS receivers can allow real-time tracking, detect when
12 Building a GSM GPS Module Tracking System

a vehicle is outside of the predefined geofence, save fuel consumption

costs by helping the driver to choose the optimal route, store up a
certain number of tracking records when connection is lost, remotely
power off a vehicle, control fuel consumption and temperature, detect
when a vehicle is driven over the speed limit, monitor voices, and
other activities.
Moreover, GPS receivers are used to secure vehicles from theft by
informing the concerned users via an alert message.

1.6 Conclusion

We presented in this chapter a general overview of GPS and the

methods of locating a position using GPS receivers to obtain accu-
rate information. We also detailed the different segments of GPS and
the different types of GPS receivers. Finally, we discussed the appli-
cation fields of GPS receivers.
However, in a rapidly progressing technology world, in the next
chapter we present the different electronic equipment for GPS s­ ystems
and the effectiveness of each.
Another random document with
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had arranged with Isaac Rolls, a hackman, to bring my baggage to
the train just on the moment of its starting, and jumped upon the car
myself when the train was already in motion. Had I gone into the
station and offered to purchase a ticket, I should have been instantly
and carefully examined, and undoubtedly arrested. In choosing this
plan upon which to act, I considered the jostle of the train, and the
natural haste of the conductor, in a train crowded with passengers,
and relied upon my skill and address in playing the sailor as
described in my protection, to do the rest. One element in my favor
was the kind feeling which prevailed in Baltimore and other seaports
at the time, towards “those who go down to the sea in ships.” “Free
trade and sailors’ rights” expressed the sentiment of the country just
then. In my clothing I was rigged out in sailor style. I had on a red
shirt and a tarpaulin hat and black cravat, tied in sailor fashion,
carelessly and loosely about my neck. My knowledge of ships and
sailor’s talk came much to my assistance, for I knew a ship from
stem to stern, and from keelson to cross-trees, and could talk sailor
like an “old salt.” On sped the train, and I was well on the way to
Havre de Grace before the conductor came into the negro car to
collect tickets and examine the papers of his black passengers. This
was a critical moment in the drama. My whole future depended upon
the decision of this conductor. Agitated I was while this ceremony
was proceeding, but still externally, at least, I was apparently calm
and self-possessed. He went on with his duty—examining several
colored passengers before reaching me. He was somewhat harsh in
tone, and peremptory in manner until he reached me, when,
strangely enough, and to my surprise and relief, his whole manner
changed. Seeing that I did not readily produce my free papers, as
the other colored persons in the car had done, he said to me in a
friendly contrast with that observed towards the others: “I suppose
you have your free papers?” To which I answered: “No, sir; I never
carry my free papers to sea with me.” “But you have something to
show that you are a free man, have you not?” “Yes, sir,” I answered;
“I have a paper with the American eagle on it, and that will carry me
round the world.” With this I drew from my deep sailor’s pocket my
seaman’s protection, as before described. The merest glance at the
paper satisfied him, and he took my fare and went on about his
business. This moment of time was one of the most anxious I ever
experienced. Had the conductor looked closely at the paper, he
could not have failed to discover that it called for a very different
looking person from myself, and in that case it would have been his
duty to arrest me on the instant, and send me back to Baltimore from
the first station. When he left me with the assurance that I was all
right, though much relieved, I realized that I was still in great danger:
I was still in Maryland, and subject to arrest at any moment. I saw on
the train several persons who would have known me in any other
clothes, and I feared they might recognize me, even in my sailor
“rig,” and report me to the conductor, who would then subject me to a
closer examination, which I knew well would be fatal to me.
Though I was not a murderer fleeing from justice I felt perhaps
quite as miserable as such a criminal. The train was moving at a
very high rate of speed for that time of railroad travel, but to my
anxious mind, it was moving far too slowly. Minutes were hours, and
hours were days during this part of my flight. After Maryland I was to
pass through Delaware—another slave State, where slave catchers
generally awaited their prey, for it was not in the interior of the State,
but on its borders, that these human hounds were most vigilant and
active. The border lines between slavery and freedom were the
dangerous ones, for the fugitives. The heart of no fox or deer, with
hungry hounds on his trail, in full chase, could have beaten more
anxiously or noisily than did mine, from the time I left Baltimore till I
reached Philadelphia. The passage of the Susquehanna river at
Havre de Grace was made by ferry boat at that time, on board of
which I met a young colored man by the name of Nichols, who came
very near betraying me. He was a “hand” on the boat, but instead of
minding his business, he insisted upon knowing me, and asking me
dangerous questions as to where I was going, and when I was
coming back, etc. I got away from my old and inconvenient
acquaintance as soon as I could decently do so, and went to another
part of the boat. Once across the river I encountered a new danger.
Only a few days before I had been at work on a revenue cutter, in
Mr. Price’s ship-yard, under the care of Captain McGowan. On the
meeting at this point of the two trains, the one going south stopped
on the track just opposite to the one going north, and it so happened
that this Captain McGowan sat at a window where he could see me
very distinctly, and would certainly have recognized me had he
looked at me but for a second. Fortunately, in the hurry of the
moment, he did not see me; and the trains soon passed each other
on their respective ways. But this was not my only hair-breadth
escape. A German blacksmith whom I knew well, was on the train
with me, and looked at me very intently as if he thought he had seen
me somewhere before in his travels. I really believe he knew me, but
had no heart to betray me. At any rate he saw me escaping and held
his peace.
The last point of imminent danger, and the one I dreaded most,
was Wilmington. Here we left the train and took the steamboat for
Philadelphia. In making the change here I again apprehended arrest,
but no one disturbed me, and I was soon on the broad and beautiful
Delaware, speeding away to the Quaker City. On reaching
Philadelphia in the afternoon I inquired of a colored man how I could
get on to New York? He directed me to the Willow street depot, and
thither I went, taking the train that night. I reached New York
Tuesday morning, having completed the journey in less than twenty-
four hours. Such is briefly the manner of my escape from slavery—
and the end of my experience as a slave. Other chapters will tell the
story of my life as a freeman.
 CHAPTER II.
LIFE AS A FREEMAN.

Loneliness and Insecurity—“Allender’s Jake”—Succored by a Sailor—David

Ruggles—Marriage—Steamer J. W. Richmond—Stage to New Bedford—
Arrival There—Driver’s Detention of Baggage—Nathan Johnson—Change
of Name—Why called “Douglas”—Obtaining Work—The Liberator and its
Editor.

MY free life began on the third of September, 1838. On the morning

of the 4th of that month, after an anxious and most perilous but safe
journey, I found myself in the big city of New York, a free man; one
more added to the mighty throng which like the confused waves of
the troubled sea, surged to and fro between the lofty walls of
Broadway. Though dazzled with the wonders which met me on every
hand, my thoughts could not be much withdrawn from my strange
situation. For the moment the dreams of my youth, and the hopes of
my manhood, were completely fulfilled. The bonds that had held me
to “old master” were broken. No man now had a right to call me his
slave or assert mastery over me. I was in the rough and tumble of an
outdoor world, to take my chance with the rest of its busy number. I
have often been asked, how I felt, when first I found myself on free
soil. And my readers may share the same curiosity. There is scarcely
anything in my experience about which I could not give a more
satisfactory answer. A new world had opened upon me. If life is more
than breath, and the “quick round of blood,” I lived more in one day
than in a year of my slave life. It was a time of joyous excitement
which words can but tamely describe. In a letter written to a friend
soon after reaching New York, I said: “I felt as one might feel upon
escape from a den of hungry lions.” Anguish and grief, like darkness
and rain, may be depicted; but gladness and joy, like the rainbow,
defy the skill of pen or pencil. During ten or fifteen years I had, as it
were, been dragging a heavy chain, which no strength of mine could
break; I was not only a slave, but a slave for life. I might become a
husband, a father, an aged man, but through all, from birth to death,
from the cradle to the grave, I had felt myself doomed. All efforts I
had previously made to secure my freedom, had not only failed, but
had seemed only to rivet my fetters the more firmly, and to render my
escape more difficult. Baffled, entangled, and discouraged, I had at
times asked myself the question, May not my condition after all be
God’s work, and ordered for a wise purpose, and if so, was not
submission my duty? A contest had in fact been going on in my mind
for a long time, between the clear consciousness of right, and the
plausible make-shifts of theology and superstition. The one held me
an abject slave—a prisoner for life, punished for some transgression
in which I had no lot or part; and the other counselled me to manly
endeavor to secure my freedom. This contest was now ended; my
chains were broken, and the victory brought me unspeakable joy.
But my gladness was short lived, for I was not yet out of the reach
and power of the slaveholders. I soon found that New York was not
quite so free, or so safe a refuge as I had supposed, and a sense of
loneliness and insecurity again oppressed me most sadly. I chanced
to meet on the street a few hours after my landing, a fugitive slave
whom I had once known well in slavery. The information received
from him alarmed me. The fugitive in question was known in
Baltimore as “Allender’s Jake,” but in New York he wore the more
respectable name of “William Dixon.” Jake in law was the property of
Doctor Allender, and Tolly Allender, the son of the doctor, had once
made an effort to recapture Mr. Dixon, but had failed for want of
evidence to support his claim. Jake told me the circumstances of this
attempt, and how narrowly he escaped being sent back to slavery
and torture. He told me that New York was then full of southerners
returning from the watering places north; that the colored people of
New York were not to be trusted; that there were hired men of my
own color who would betray me for a few dollars; that there were
hired men ever on the lookout for fugitives; that I must trust no man
with my secret; that I must not think of going either upon the
wharves, or into any colored boarding-house, for all such places
were closely watched; that he was himself unable to help me; and, in
fact, he seemed while speaking to me to fear lest I myself might be a
spy, and a betrayer. Under this apprehension, as I suppose, he
showed signs of wishing to be rid of me, and with whitewash brush in
hand, in search of work, he soon disappeared. This picture, given by
poor “Jake” of New York, was a damper to my enthusiasm. My little
store of money would soon be exhausted, and since it would be
unsafe for me to go on the wharves for work, and I had no
introductions elsewhere, the prospect for me was far from cheerful. I
saw the wisdom of keeping away from the ship-yards, for, if pursued,
as I felt certain I would be, Mr. Auld would naturally seek me there
among the calkers. Every door seemed closed against me. I was in
the midst of an ocean of my fellowmen, and yet a perfect stranger to
every one. I was without home, without acquaintance, without
money, without credit, without work, and without any definite
knowledge as to what course to take, or where to look for succor. In
such an extremity, a man has something beside his new-born
freedom to think of. While wandering about the streets of New York,
and lodging at least one night among the barrels on one of the
wharves, I was indeed free—from slavery, but free from food and
shelter as well. I kept my secret to myself as long as I could, but was
compelled at last to seek some one who should befriend me, without
taking advantage of my destitution to betray me. Such an one I found
in a sailor named Stuart, a warm-hearted and generous fellow, who
from his humble home on Centre street, saw me standing on the
opposite sidewalk, near “The Tombs.” As he approached me I
ventured a remark to him which at once enlisted his interest in me.
He took me to his home to spend the night, and in the morning went
with me to Mr. David Ruggles, the secretary of the New York
vigilance committee, a co-worker with Isaac T. Hopper, Lewis and
Arthur Tappan, Theodore S. Wright, Samuel Cornish, Thomas
Downing, Phillip A. Bell and other true men of their time. All these
(save Mr. Bell, who still lives, and is editor and publisher of a paper
called the Elevator, in San Francisco) have finished their work on
earth. Once in the hands of these brave and wise men, I felt
comparatively safe. With Mr. Ruggles, on the corner of Lispenard
and Church streets, I was hidden several days, during which time my
intended wife came on from Baltimore at my call, to share the
burdens of life with me. She was a free woman, and came at once
on getting the good news of my safety. We were married by Rev.
J. W. C. Pennington, then a well-known and respected Presbyterian
minister. I had no money with which to pay the marriage fee, but he
seemed well pleased with our thanks.
Mr. Ruggles was the first officer on the underground railroad with
whom I met after coming North; and was indeed the only one with
whom I had anything to do, till I became such an officer myself.
Learning that my trade was that of a calker, he promptly decided that
the best place for me was in New Bedford, Mass. He told me that
many ships for whaling voyages were fitted out there, and that I
might there find work at my trade, and make a good living. So on the
day of the marriage ceremony, we took our little luggage to the
steamer John W. Richmond, which at that time was one of the line
running between New York and Newport, R. I. Forty-three years ago
colored travelers were not permitted in the cabin, nor allowed abaft
the paddle-wheels of a steam vessel. They were compelled,
whatever the weather might be, whether cold or hot, wet or dry, to
spend the night on deck. Unjust as this regulation was, it did not
trouble us much. We had fared much harder before. We arrived at
Newport the next morning, and soon after an old-fashioned stage-
coach with “New Bedford” in large, yellow letters on its sides, came
down to the wharf. I had not money enough to pay our fare, and
stood hesitating to know what to do. Fortunately for us, there were
two Quaker gentlemen who were about to take passage on the
stage,—Friends William C. Taber and Joseph Ricketson,—who at
once discerned our true situation, and in a peculiarly quiet way,
addressing me, Mr. Taber said: “Thee get in.” I never obeyed an
order with more alacrity, and we were soon on our way to our new
home. When we reached “Stone Bridge” the passengers alighted for
breakfast, and paid their fares to the driver. We took no breakfast,
and when asked for our fares I told the driver I would make it right
with him when we reached New Bedford. I expected some objection
to this on his part, but he made none. When, however, we reached
New Bedford he took our baggage, including three music books,—
two of them collections by Dyer, and one by Shaw,—and held them
until I was able to redeem them by paying to him the sums due for
our rides. This was soon done, for Mr. Nathan Johnson not only
received me kindly, and hospitably, but, on being informed about our
baggage, at once loaned me the two dollars with which to square
accounts with the stage-driver. Mr. and Mrs. Nathan Johnson
reached a good old age, and now rest from their labors. I am under
many grateful obligations to them. They not only “took me in when a
stranger,” and “fed me when hungry,” but taught me how to make an
honest living.
Thus, in a fortnight after my flight from Maryland, I was safe in
New Bedford,—a citizen of the grand old commonwealth of
Massachusetts.
 At the Wharf in Newport.
Once initiated into my new life of freedom, and assured by Mr.
Johnson that I need not fear recapture in that city, a comparatively
unimportant question arose, as to the name by which I should be
known thereafter, in my new relation as a free man. The name given
me by my dear mother was no less pretentious and long than
Frederick Augustus Washington Bailey. I had, however, while living
in Maryland disposed of the Augustus Washington, and retained only
Frederick Bailey. Between Baltimore and New Bedford, the better to
conceal myself from the slave-hunters, I had parted with Bailey and
called myself Johnson; but finding that in New Bedford the Johnson
family was already so numerous as to cause some confusion in
distinguishing one from another, a change in this name seemed
desirable. Nathan Johnson, mine host, was emphatic as to this
necessity, and wished me to allow him to select a name for me. I
consented, and he called me by my present name,—the one by
which I have been known for three and forty years,—Frederick
Douglass. Mr. Johnson had just been reading the “Lady of the Lake,”
and so pleased was he with its great character that he wished me to
bear his name. Since reading that charming poem myself, I have
often thought that, considering the noble hospitality and manly
character of Nathan Johnson, black man though he was, he, far
more than I, illustrated the virtues of the Douglas of Scotland. Sure
am I that if any slave-catcher had entered his domicile with a view to
my recapture, Johnson would have been like him of the “stalwart
hand.”
The reader may be surprised, that living in Baltimore as I had
done for many years, when I tell the honest truth of the impressions I
had in some way conceived of the social and material condition of
the people at the north. I had no proper idea of the wealth,
refinement, enterprise, and high civilization of this section of the
country. My Columbian Orator, almost my only book, had done
nothing to enlighten me concerning northern society. I had been
taught that slavery was the bottom-fact of all wealth. With this
foundation idea, I came naturally to the conclusion that poverty must
be the general condition of the people of the free States. A white
man holding no slaves in the country from which I came, was usually
an ignorant and poverty-stricken man. Men of this class were
contemptuously called “poor white trash.” Hence I supposed that
since the non-slaveholders at the south were ignorant, poor, and
degraded as a class, the non-slaveholders at the north must be in a
similar condition. New Bedford therefore, which at that time was
really the richest city in the Union, in proportion to its population, took
me greatly by surprise, in the evidences it gave of its solid wealth
and grandeur. I found that even the laboring classes lived in better
houses, that their houses were more elegantly furnished, and were
more abundantly supplied with conveniences and comforts, than the
houses of many who owned slaves on the Eastern Shore of
Maryland. This was true not only of the white people of that city, but
it was so of my friend, Mr. Johnson. He lived in a nicer house, dined
at a more ample board, was the owner of more books, the reader of
more newspapers, was more conversant with the moral, social, and
political condition of the country and the world than nine-tenths of the
slaveholders in all Talbot county. I was not long in finding the cause
of the difference in these respects, between the people of the north
and south. It was the superiority of educated mind over mere brute
force. I will not detain the reader by extended illustrations as to how
my understanding was enlightened on this subject. On the wharves
of New Bedford I received my first light. I saw there industry without
bustle, labor without noise, toil—honest, earnest, and exhaustive,
without the whip. There was no loud singing or hallooing, as at the
wharves of southern ports when ships were loading or unloading; no
loud cursing or quarreling; everything went on as smoothly as well-
oiled machinery. One of the first incidents which impressed me with
the superior mental character of labor in the north over that of the
south, was in the manner of loading and unloading vessels. In a
southern port twenty or thirty hands would be employed to do what
five or six men, with the help of one ox, would do at the wharf in New
Bedford. Main strength—human muscle—unassisted by intelligent
skill, was slavery’s method of labor. With a capital of about sixty
dollars in the shape of a good-natured old ox, attached to the end of
a stout rope, New Bedford did the work of ten or twelve thousand
dollars, represented in the bones and muscles of slaves, and did it
far better. In a word, I found everything managed with a much more
scrupulous regard to economy, both of men and things, time and
strength, than in the country from which I had come. Instead of going
a hundred yards to the spring, the maid-servant had a well or pump
at her elbow. The wood used for fuel was kept dry and snugly piled
away for winter. Here were sinks, drains, self-shutting gates,
pounding-barrels, washing-machines, wringing-machines, and a
hundred other contrivances for saving time and money. The ship-
repairing docks showed the same thoughtful wisdom as seen
elsewhere. Everybody seemed in earnest. The carpenter struck the
nail on its head, and the calkers wasted no strength in idle flourishes
of their mallets. Ships brought here for repairs were made stronger
and better than when new. I could have landed in no part of the
United States where I should have found a more striking and
gratifying contrast, not only to life generally in the South, but in the
condition of the colored people there than in New Bedford. No
colored man was really free while residing in a slave State. He was
ever more or less subject to the condition of his slave brother. In his
color was his badge of bondage. I saw in New Bedford the nearest
approach to freedom and equality that I had ever seen. I was
amazed when Mr. Johnson told me that there was nothing in the
laws or constitution of Massachusetts, that would prevent a colored
man from being governor of the State, if the people should see fit to
elect him. There too the black man’s children attended the same
public schools with the white man’s children, and apparently without
objection from any quarter. To impress me with my security from
recapture, and return to slavery, Mr. Johnson assured me that no
slaveholder could take a slave out of New Bedford; that there were
men there who would lay down their lives to save me from such a
fate. A threat was once made by a colored man to inform a southern
master where his runaway slave could be found. As soon as this
threat became known to the colored people they were furious. A
notice was read from the pulpit of the Third Christian church
(colored) for a public meeting, when important business would be
transacted (not stating what the important business was). In the
meantime special measures had been taken to secure the
attendance of the would-be Judas, and these had proved successful,
for when the hour of meeting arrived, ignorant of the object for which
they were called together, the offender was promptly in attendance.
All the usual formalities were gone through with, the prayer,
appointments of president, secretaries, etc. Then the president, with
an air of great solemnity, rose and said: “Well, friends and brethren,
we have got him here, and I would recommend that you, young men,
should take him outside the door and kill him.” This was enough;
there was a rush for the villain, who would probably have been killed
but for his escape by an open window. He was never seen again in
New Bedford.
The fifth day after my arrival I put on the clothes of a common
laborer, and went upon the wharves in search of work. On my way
down Union street I saw a large pile of coal in front of the house of
Rev. Ephraim Peabody, the Unitarian minister. I went to the kitchen
door and asked the privilege of bringing in and putting away this
coal. “What will you charge?” said the lady. “I will leave that to you,
madam.” “You may put it away,” she said. I was not long in
accomplishing the job, when the dear lady put into my hand two
silver half dollars. To understand the emotion which swelled my heart
as I clasped this money, realizing that I had no master who could
take it from me—that it was mine—that my hands were my own, and
could earn more of the precious coin—one must have been in some
sense himself a slave. My next job was stowing a sloop at Uncle Gid.
Howland’s wharf with a cargo of oil for New York. I was not only a
freeman but a free-working man, and no Master Hugh stood ready at
the end of the week to seize my hard earnings.
The season was growing late and work was plenty. Ships were
being fitted out for whaling, and much wood was used in storing
them. The sawing this wood was considered a good job. With the
help of old Friend Johnson (blessings on his memory) I got a “saw”
and “buck” and went at it. When I went into a store to buy a cord with
which to brace up my saw in the frame, I asked for a “fip’s” worth of
cord. The man behind the counter looked rather sharply at me, and
said with equal sharpness, “You don’t belong about here.” I was
alarmed, and thought I had betrayed myself. A fip in Maryland was
six and a quarter cents, called fourpence in Massachusetts. But no
harm came, except my fear, from the “fipenny-bit” blunder, and I
confidently and cheerfully went to work with my saw and buck. It was
new business to me, but I never did better work, or more of it in the
same space of time for Covey, the negro-breaker, than I did for
myself in these earliest years of my freedom.
Notwithstanding the just and humane sentiment of New Bedford
three and forty years ago, the place was not entirely free from race
and color prejudice. The good influence of the Roaches, Rodmans,
Arnolds, Grinnells, and Robesons did not pervade all classes of its
people. The test of the real civilization of the community came when
I applied for work at my trade, and then my repulse was emphatic
and decisive. It so happened that Mr. Rodney French, a wealthy and
enterprising citizen, distinguished as an anti-slavery man, was fitting
out a vessel for a whaling voyage, upon which there was a heavy job
of calking and coppering to be done. I had some skill in both
branches, and applied to Mr. French for work. He, generous man
that he was, told me he would employ me, and I might go at once to
the vessel. I obeyed him, but upon reaching the float-stage, where
other calkers were at work, I was told that every white man would
leave the ship in her unfinished condition, if I struck a blow at my
trade upon her. This uncivil, inhuman, and selfish treatment was not
so shocking and scandalous in my eyes at the time as it now
appears to me. Slavery had inured me to hardships that made
ordinary trouble sit lightly upon me. Could I have worked at my trade
I could have earned two dollars a day, but as a common laborer I
received but one dollar. The difference was of great importance to
me, but if I could not get two dollars, I was glad to get one; and so I
went to work for Mr. French as a common laborer. The
consciousness that I was free—no longer a slave—kept me cheerful
under this, and many similar proscriptions, which I was destined to
meet in New Bedford, and elsewhere on the free soil of
Massachusetts. For instance, though white and colored children
attended the same schools, and were treated kindly by their
teachers, the New Bedford Lyceum refused till several years after my
residence in that city to allow any colored person to attend the
lectures delivered in its hall. Not until such men as Hon. Chas.
Sumner, Theodore Parker, Ralph W. Emerson, and Horace Mann
refused to lecture in their course while there was such a restriction,
was it abandoned.
Becoming satisfied that I could not rely on my trade in New
Bedford to give me a living, I prepared myself to do any kind of work
that came to hand. I sawed wood, shoveled coal, dug cellars, moved
rubbish from back-yards, worked on the wharves, loaded and
unloaded vessels, and scoured their cabins.
 This was an uncertain and unsatisfactory mode of life, for it kept
me too much of the time in search of work. Fortunately it was not to
last long. One of the gentlemen of whom I have spoken as being in
company with Mr. Taber on the Newport wharf, when he said to me
“thee get in,” was Mr. Joseph Ricketson; and he was the proprietor of
a large candle works in the south part of the city. In this “candle
works” as it was called, though no candles were manufactured there,
by the kindness of Mr. Ricketson, I found what is of the utmost
importance to a young man just starting in life—constant
employment and regular wages. My work in this oil refinery required
good wind and muscle. Large casks of oil were to be moved from
place to place, and much heavy lifting to be done. Happily I was not
deficient in the requisite qualities. Young (21 years), strong, and
active, and ambitious to do my full share, I soon made myself useful,
and I think liked by the men who worked with me, though they were
all white. I was retained here as long as there was anything for me to
do; when I went again to the wharves and obtained work as a laborer
on two vessels which belonged to Mr. George Howland, and which
were being repaired and fitted up for whaling. My employer was a
man of great industry: a hard driver, but a good paymaster, and I got
on well with him. I was not only fortunate in finding work with Mr.
Howland, but in my work-fellows. I have seldom met three working
men more intelligent than were John Briggs, Abraham Rodman, and
Solomon Pennington, who labored with me on the “Java” and
“Golconda.” They were sober, thoughtful, and upright, thoroughly
imbued with the spirit of liberty, and I am much indebted to them for
many valuable ideas and impressions. They taught me that all
colored men were not light-hearted triflers, incapable of serious
thought or effort. My next place of work was at the brass foundry
owned by Mr. Richmond. My duty here was to blow the bellows,
swing the crane, and empty the flasks in which castings were made;
and at times this was hot and heavy work. The articles produced
here were mostly for ship work, and in the busy season the foundry
was in operation night and day. I have often worked two nights and
each working day of the week. My foreman, Mr. Cobb, was a good
man, and more than once protected me from abuse that one or more
of the hands was disposed to throw upon me. While in this situation I
had little time for mental improvement. Hard work, night and day,
over a furnace hot enough to keep the metal running like water, was
more favorable to action than thought; yet here I often nailed a
newspaper to the post near my bellows, and read while I was
performing the up and down motion of the heavy beam by which the
bellows was inflated and discharged. It was the pursuit of knowledge
under difficulties, and I look back to it now after so many years with
some complacency and a little wonder that I could have been so
earnest and persevering in any pursuit other than for my daily bread.
I certainly saw nothing in the conduct of those around to inspire me
with such interest: they were all devoted exclusively to what their
hands found to do. I am glad to be able to say that during my
engagement in this foundry, no complaint was ever made against
me, that I did not do my work, and do it well. The bellows which I
worked by main strength was after I left moved by a steam engine.
I had been living four or five months in New Bedford when there
came a young man to me with a copy of the Liberator, the paper
edited by William Lloyd Garrison, and published by Isaac Knapp, and
asked me to subscribe for it. I told him I had but just escaped from
slavery, and was of course very poor, and had no money then to pay
for it. He was very willing to take me as a subscriber,
notwithstanding, and from this time I was brought into contact with
the mind of Mr. Garrison, and his paper took a place in my heart
second only to the Bible. It detested slavery, and made no truce with
the traffickers in the bodies and souls of men. It preached human
brotherhood; it exposed hypocrisy and wickedness in high places; it
denounced oppression, and with all the solemnity of “Thus saith the
Lord,” demanded the complete emancipation of my race. I loved this
paper and its editor. He seemed to me an all-sufficient match to
every opponent, whether they spoke in the name of the law or the
gospel. His words were full of holy fire, and straight to the point.
Something of a hero-worshiper by nature, here was one to excite my
admiration and reverence.
Soon after becoming a reader of the Liberator it was my privilege
to listen to a lecture in Liberty Hall, by Mr. Garrison, its editor. He
was then a young man, of a singularly pleasing countenance, and
earnest and impressive manner. On this occasion he announced
nearly all his heresies. His Bible was his text book—held sacred as
the very word of the Eternal Father. He believed in sinless perfection,
complete submission to insults and injuries, and literal obedience to
the injunction if smitten “on one cheek to turn the other also.” Not
only was Sunday a Sabbath, but all days were Sabbaths, and to be
kept holy. All sectarianism was false and mischievous—the
regenerated throughout the world being members of one body, and
the head Christ Jesus. Prejudice against color was rebellion against
God. Of all men beneath the sky, the slaves because most neglected
and despised, were nearest and dearest to his great heart. Those
ministers who defended slavery from the Bible were of their “father
the devil”; and those churches which fellowshiped slaveholders as
Christians, were synagogues of Satan, and our nation was a nation
of liars. He was never loud and noisy, but calm and serene as a
summer sky, and as pure. “You are the man—the Moses, raised up
by God, to deliver his modern Israel from bondage,” was the
spontaneous feeling of my heart, as I sat away back in the hall and
listened to his mighty words,—mighty in truth,—mighty in their simple
earnestness. I had not long been a reader of the Liberator, and a
listener to its editor, before I got a clear comprehension of the
principles of the anti-slavery movement. I had already its spirit, and
only needed to understand its principles and measures, and as I
became acquainted with these my hope for the ultimate freedom of
my race increased. Every week the Liberator came, and every week
I made myself master of its contents. All the anti-slavery meetings
held in New Bedford I promptly attended, my heart bounding at every
true utterance against the slave system, and every rebuke of it by its
friends and supporters. Thus passed the first three years of my free
life. I had not then dreamed of the possibility of my becoming a
public advocate of the cause so deeply imbedded in my heart. It was
enough for me to listen, to receive, and applaud the great words of
others, and only whisper in private, among the white laborers on the
wharves and elsewhere, the truths which burned in my heart.
 CHAPTER III.
INTRODUCED TO THE ABOLITIONISTS.

Anti-Slavery Convention at Nantucket—First Speech—Much Sensation—

Extraordinary Speech of Mr. Garrison—Anti-Slavery Agency—Youthful
Enthusiasm—Fugitive Slaveship Doubted—Experience in Slavery Written
—Danger of Recapture.

IN the summer of 1841 a grand anti-slavery convention was held in

Nantucket, under the auspices of Mr. Garrison and his friends. I had
taken no holiday since establishing myself in New Bedford, and
feeling the need of a little rest, I determined on attending the
meeting, though I had no thought of taking part in any of its
proceedings. Indeed, I was not aware that any one connected with
the convention so much as knew my name. Mr. William C. Coffin, a
prominent abolitionist in those days of trial, had heard me speaking
to my colored friends in the little school house on Second street,
where we worshiped. He sought me out in the crowd and invited me
to say a few words to the convention. Thus sought out, and thus
invited, I was induced to express the feelings inspired by the
occasion, and the fresh recollection of the scenes through which I
had passed as a slave. It was with the utmost difficulty that I could
stand erect, or that I could command and articulate two words
without hesitation and stammering. I trembled in every limb. I am not
sure that my embarrassment was not the most effective part of my
speech, if speech it could be called. At any rate, this is about the
only part of my performance that I now distinctly remember. The
audience sympathized with me at once, and from having been
remarkably quiet, became much excited. Mr. Garrison followed me,
taking me as his text, and now, whether I had made an eloquent plea
in behalf of freedom, or not, his was one, never to be forgotten.
Those who had heard him oftenest, and had known him longest,
were astonished at his masterly effort. For the time he possessed
that almost fabulous inspiration, often referred to but seldom
attained, in which a public meeting is transformed, as it were, into a
single individuality, the orator swaying a thousand heads and hearts
at once, and by the simple majesty of his all-controlling thought,
converting his hearers into the express image of his own soul. That
night there were at least a thousand Garrisonians in Nantucket!
At the close of this great meeting I was duly waited on by Mr.
John A. Collins, then the general agent of the Massachusetts Anti-
Slavery Society, and urgently solicited by him to become an agent of
that society, and publicly advocate its principles. I was reluctant to
take the proffered position. I had not been quite three years from
slavery and was honestly distrustful of my ability, and I wished to be
excused. Besides, publicity might discover me to my master, and
many other objections presented themselves. But Mr. Collins was
not to be refused, and I finally consented to go out for three months,
supposing I should in that length of time come to the end of my story
and my consequent usefulness.
Here opened for me a new life—a life for which I had had no
preparation. Mr. Collins used to say when introducing me to an
audience, I was a “graduate from the peculiar institution, with my
diploma written on my back.” The three years of my freedom had
been spent in the hard school of adversity. My hands seemed to be
furnished with something like a leather coating, and I had marked out
for myself a life of rough labor, suited to the hardness of my hands,
as a means of supporting my family and rearing my children.
Young, ardent, and hopeful, I entered upon this new life in the full
gush of unsuspecting enthusiasm. The cause was good, the men
engaged in it were good, the means to attain its triumph, good.
Heaven’s blessing must attend all, and freedom must soon be given
to the millions pining under a ruthless bondage. My whole heart went
with the holy cause, and my most fervent prayer to the Almighty
Disposer of the hearts of men, was continually offered for its early
triumph. In this enthusiastic spirit I dropped into the ranks of
freedom’s friends and went forth to the battle. For a time I was made
to forget that my skin was dark and my hair crisped. For a time I
regretted that I could not have shared the hardships and dangers
endured by the earlier workers for the slave’s release. I found,
however, full soon that my enthusiasm had been extravagant, that
hardships and dangers were not all over, and that the life now before
me had its shadows also, as well as its sunbeams.
Among the first duties assigned me on entering the ranks was to
travel in company with Mr. George Foster to secure subscribers to
the Anti-Slavery Standard and the Liberator. With him I traveled and
lectured through the eastern counties of Massachusetts. Much
interest was awakened—large meetings assembled. Many came, no
doubt from curiosity to hear what a negro could say in his own
cause. I was generally introduced as a “chattel,”—a “thing”—a piece
of southern property—the chairman assuring the audience that it
could speak. Fugitive slaves were rare then, and as a fugitive slave
lecturer, I had the advantage of being a “bran new fact”—the first one
out. Up to that time, a colored man was deemed a fool who
confessed himself a runaway slave, not only because of the danger
to which he exposed himself of being retaken, but because it was a
confession of a very low origin. Some of my colored friends in New
Bedford thought very badly of my wisdom in thus exposing and
degrading myself. The only precaution I took at the beginning, to
prevent Master Thomas from knowing where I was and what I was
about, was the withholding my former name, my master’s name, and
the name of the State and county from which I came. During the first
three or four months my speeches were almost exclusively made up
of narrations of my own personal experience as a slave. “Let us have
the facts,” said the people. So also said Friend George Foster, who
always wished to pin me down to my simple narrative. “Give us the
facts,” said Collins, “we will take care of the philosophy.” Just here
arose some embarrassment. It was impossible for me to repeat the
same old story, month after month, and to keep up my interest in it. It
was new to the people, it is true, but it was an old story to me; and to
go through with it night after night, was a task altogether too
mechanical for my nature. “Tell your story, Frederick,” would whisper
my revered friend, Mr. Garrison, as I stepped upon the platform. I
could not always follow the injunction, for I was now reading and