Build a GPS Vehicle Tracker Using Raspberry Pi Pico | MicroPython & Thonny IDE Tutorial

by Shahbaz Hashmi Ansari in Circuits > Raspberry Pi

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Build a GPS Vehicle Tracker Using Raspberry Pi Pico | MicroPython & Thonny IDE Tutorial

Greetings everyone, and welcome to my Instructables tutorial. Today, I'll guide you through the process of creating a GPS Vehicle Tracker using Raspberry Pi Pico.

Project Overview:

Build a professional GPS-based vehicle tracking system using Raspberry Pi Pico, the SIM800L GSM module, and the Neo-6M GPS receiver. This project tracks real-time vehicle location via SMS and Google Maps, offering reliable performance even with poor connectivity. Perfect for IoT, vehicle monitoring, and asset tracking applications, all programmed in MicroPython using Thonny IDE.

Before beginning, a huge shoutout to JLCMC for sponsoring.

Now, let's get started with our project!

Supplies

Electronic Components Required:

Raspberry Pi Pico
NEO-6M GPS Module
SIM800L GPRS GSM Module
BreadBoard
Red LED

Additional Tools:

Hot Glue
Cutter
Soldering Iron

Software:

Thonny IDE

Components Assembly & Circuit Design

Follow the steps:

Mount the Raspberry Pi Pico, NEO-6M GPS Module, & SIM800L GPRS GSM Module into the BreadBoard.
Using the jumper wire, connect the SIM800L GPRS GSM Module:

GSM Module → Raspberry Pi Pico

TX → GP1 (UART0 RX - Pin 2)

RX → GP0 (UART0 TX - Pin 1)

Using the jumper wire, connect the NEO-6M GPS Module:

GPS Module → Raspberry Pi Pico

TXD → GP5 (UART1 RX - Pin 7)

RXD → GP4 (UART1 TX - Pin 6)

See you in the next step...

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Power Supply Circuit

Follow the steps:

Now connect the NEO-6M GPS Module and the SIM800L GPRS GSM Module:

VCC --> VBUS (Raspberry Pi Pico)

GND --> GND (Raspberry Pi Pico)

Power Supply:

USB Power Supply: Simply connect the Raspberry Pi Pico to your computer or car USB charger using a USB cable. This provides both power and programming access.
External Power Supply (Recommended for Field Use): If you’re deploying the system in a vehicle or remote location, you can use a regulated 5V external power source. Ensure that the SIM800L module receives stable voltage (3.7V–4.2V range), using an external power source or a Li-ion battery with proper regulation is ideal for reliable GSM performance.

Understanding MicroPython & Uploading Code

Micropython programming and Raspberry Pi Pico programming using Thonny IDE

The above video will provide you with a clear explanation of the code and how to upload it.

Full Code: https://github.com/ShahbazCoder1/GPS-Vehicle-Tracker-using-Raspberry-Pi-Pico-MicroPython-Thonny-IDE

In this project we are using the MicropyGPS library by Michael Calvin McCoy

Main.py:

# GPS Vehicle Tracker using Raspberry Pi Pico | MicroPython & Thonny IDE

# Written by Shahbaz Hashmi Ansari

import machine

import time

import sys

from micropygps import MicropyGPS

# --- Pin Definitions ---

POWER_LED_PIN = 25

GSM_LED_PIN = 15

GPS_LED_PIN = 14

# --- Constants and Configuration ---

ADMIN_NUMBER = "+9186********"

LOCATION_INTERVAL_MS = 1 * 60 * 1000 # 1 minute for testing

GSM_CHECK_INTERVAL_MS = 10000 # Check GSM network status every 10 seconds

# --- Hardware Configuration ---

# UART for GSM Module (SIM800L, etc.)

gsm_uart = machine.UART(0, baudrate=9600, tx=machine.Pin(0), rx=machine.Pin(1), timeout=1000)

# UART for GPS Module (NEO-6M, etc.)

gps_uart = machine.UART(1, baudrate=9600, tx=machine.Pin(4), rx=machine.Pin(5))

# --- System State Variables ---

gsm_connected = False

gps_fix_acquired = False

gsm_initialized = False

# --- GPS Parser Setup ---

# India is UTC+5:30, so local_offset is 5.5

gps_parser = MicropyGPS(location_formatting='dd', local_offset=5.5)

# --- Timing Variables for Non-Blocking Delays ---

last_location_sent_ms = 0

last_gsm_check_ms = 0

# --- LED Setup ---

power_led = machine.Pin(POWER_LED_PIN, machine.Pin.OUT)

gsm_led = machine.Pin(GSM_LED_PIN, machine.Pin.OUT)

gps_led = machine.Pin(GPS_LED_PIN, machine.Pin.OUT)

power_led.on()

#=================================================

# ===== HELPER FUNCTIONS =========================

#=================================================

def send_at_command(command, wait_time_ms=1000, max_wait_ms=3000):

"""Sends an AT command to the GSM module and returns the response."""

print(f"Sending: {command}")

try:

# Clear any pending data first

if gsm_uart.any():

gsm_uart.read()

gsm_uart.write((command + '\r\n').encode())

# Wait for response with timeout

response = ""

start_time = time.ticks_ms()

while time.ticks_diff(time.ticks_ms(), start_time) < max_wait_ms:

if gsm_uart.any():

chunk = gsm_uart.read()

if chunk:

response += chunk.decode('utf-8', 'ignore')

# Small delay to allow complete response

time.sleep_ms(wait_time_ms)

# Read any remaining data

if gsm_uart.any():

chunk = gsm_uart.read()

if chunk:

response += chunk.decode('utf-8', 'ignore')

break

time.sleep_ms(100)

if response:

print(f"Response: {response.strip()}")

else:

print("No response received")

return response

except Exception as e:

print(f"Error in send_at_command: {e}")

return ""

def check_gsm_module():

"""Check if GSM module is responding."""

print("\nChecking GSM module connection...")

# Try basic AT command

response = send_at_command('AT', 1000, 2000)

if 'OK' in response:

print("✓ GSM module is responding")

return True

print("✗ GSM module not responding")

print(" Check: 1) Power supply (4V) 2) TX/RX connections 3) Ground connection")

return False

def send_sms(number, message):

"""Sends an SMS message with improved timeout handling."""

if not gsm_connected:

print("Cannot send SMS. GSM not connected.")

return False

print(f"\nSending SMS to {number}")

print(f"Message: {message}")

try:

# Set SMS text mode

send_at_command('AT+CMGF=1', 500)

# Send the SMS command

gsm_uart.write(f'AT+CMGS="{number}"\r\n'.encode())

# Wait for '>' prompt with timeout

prompt_received = False

start_time = time.ticks_ms()

response = ""

while time.ticks_diff(time.ticks_ms(), start_time) < 5000:

if gsm_uart.any():

chunk = gsm_uart.read()

if chunk:

response += chunk.decode('utf-8', 'ignore')

if '>' in response:

prompt_received = True

break

time.sleep_ms(50)

if not prompt_received:

print(f"Failed to get SMS prompt '>'")

# Send ESC to cancel

gsm_uart.write(b'\x1B')

return False

print("Got prompt, sending message...")

# Send message content

gsm_uart.write(message.encode('utf-8'))

time.sleep_ms(100)

# Send Ctrl+Z to finish

gsm_uart.write(b'\x1A')

# Wait for confirmation

confirmation = ""

start_time = time.ticks_ms()

while time.ticks_diff(time.ticks_ms(), start_time) < 10000:

if gsm_uart.any():

chunk = gsm_uart.read()

if chunk:

confirmation += chunk.decode('utf-8', 'ignore')

if '+CMGS:' in confirmation or 'OK' in confirmation:

print("✓ SMS sent successfully!")

return True

if 'ERROR' in confirmation:

print(f"✗ SMS error: {confirmation}")

return False

time.sleep_ms(100)

print("SMS timeout - message may not have been sent")

return False

except Exception as e:

print(f"Error sending SMS: {e}")

return False

def has_valid_gps_data():

"""Check if GPS has valid position data."""

# Check if latitude and longitude tuples have valid data

if (gps_parser.latitude[0] is not None and

gps_parser.longitude[0] is not None and

gps_parser.latitude[0] != 0 and

gps_parser.longitude[0] != 0):

return True

return False

def get_current_location_string():

"""Formats the current location into a readable string."""

if has_valid_gps_data():

# Formatted (human-readable)

lat_str = gps_parser.latitude_string()

lon_str = gps_parser.longitude_string()

# Decimal (for Google Maps link)

lat = gps_parser.latitude[0]

lon = gps_parser.longitude[0]

# Check if timestamp and date are valid before using them

ts = gps_parser.timestamp

dt = gps_parser.date

timestamp_str = ""

if dt[0] and ts[0] is not None:

try:

timestamp_str = f"\nTime: {dt[0]:02d}/{dt[1]:02d}/20{dt[2]:02d} {ts[0]:02d}:{ts[1]:02d}:{int(ts[2]):02d}"

except:

timestamp_str = "\nTime: N/A"

else:

timestamp_str = "\nTime: N/A"

# Use decimal format for maps link (no ° N/E)

maps_link = f"http://maps.google.com/maps?q={lat},{lon}"

return f"Location: {lat_str}, {lon_str}{timestamp_str}\nMap: {maps_link}"

else:

return "GPS signal not available. Please wait."

def print_debug_report():

"""Prints a live status report to the console."""

print("\n")

print("=" * 50)

print(" SYSTEM DEBUG REPORT")

print("=" * 50)

print("\n[ System Status ]")

print("-" * 50)

print(f"GSM Module Initialized: {'Yes' if gsm_initialized else 'No'}")

print(f"GSM Network Connected: {'Yes' if gsm_connected else 'No'}")

print(f"GPS Fix Acquired: {'Yes' if gps_fix_acquired else 'No'}")

print("\n[ GPS Information ]")

print("-" * 50)

if gps_fix_acquired and has_valid_gps_data():

print(f"Latitude: {gps_parser.latitude_string()}")

print(f"Longitude: {gps_parser.longitude_string()}")

print(f"Satellites in use: {gps_parser.satellites_in_use}")

ts = gps_parser.timestamp

if ts[0] is not None:

print(f"Time: {ts[0]:02d}:{ts[1]:02d}:{int(ts[2]):02d}")

else:

print("No GPS fix - waiting for satellites...")

print("\n[ Location Tracking ]")

print("-" * 50)

time_since_last = time.ticks_diff(time.ticks_ms(), last_location_sent_ms)

next_send = (LOCATION_INTERVAL_MS - time_since_last) // 1000

print(f"Interval: {LOCATION_INTERVAL_MS // 60000} minute(s)")

print(f"Last sent: {time_since_last // 1000} seconds ago")

print(f"Next send: {max(0, next_send)} seconds")

print("\n[ Hardware Info ]")

print("-" * 50)

print(f"GSM UART: TX=Pin{0}, RX=Pin{1}")

print(f"GPS UART: TX=Pin{4}, RX=Pin{5}")

print(f"Admin Number: {ADMIN_NUMBER}")

print("\n" + "=" * 50 + "\n")

def check_serial_input():

"""Check for serial input in a MicroPython compatible way."""

# Try to check if stdin has data using polling

try:

# Use sys.stdin with non-blocking read

if hasattr(sys.stdin, 'read'):

# This method works better on MicroPython

return True

return False

except:

return False

#=================================================

# ===== INITIALIZATION ===========================

#=================================================

print("\n" + "=" * 50)

print(" Vehicle Tracking System V5 for RPi Pico")

print("=" * 50)

print("\nInitializing...")

# Check if GSM module is responding

gsm_initialized = check_gsm_module()

if gsm_initialized:

print("\nConfiguring GSM module for SMS...")

send_at_command('ATE0', 500) # Disable command echo

send_at_command('AT+CMGF=1', 500) # Set SMS to text mode

send_at_command('AT+CNMI=2,1,0,0,0', 500) # Configure SMS delivery

print("GSM configuration complete.")

else:

print("\n⚠ WARNING: GSM module not detected!")

print("The system will continue, but SMS features won't work.")

print("Please check your wiring and power supply.\n")

print("\nSystem is running...")

print("Commands:")

print(" - Type 'x' for debug report")

print(" - Type 't' to test SMS")

print(" - Type 'l' to get location")

print("-" * 50)

#=================================================

# ===== MAIN LOOP ================================

#=================================================

input_buffer = ""

while True:

try:

current_time_ms = time.ticks_ms()

# --- 1. Process GPS Data ---

if gps_uart.any():

data = gps_uart.read().decode('utf-8', 'ignore')

for char in data:

sentence = gps_parser.update(char)

# Optional: Print when complete sentence is parsed

# if sentence:

# print(f"Parsed: {sentence}")

# Check for GPS fix using correct attribute (fix_type instead of fix_stat)

# fix_type: 1 = no fix, 2 = 2D fix, 3 = 3D fix

if not gps_fix_acquired and gps_parser.fix_type >= 2 and has_valid_gps_data():

gps_fix_acquired = True

gps_led.on()

print(f"\n✓ GPS Fix Acquired! (Fix type: {gps_parser.fix_type}D)")

if gsm_connected:

send_sms(ADMIN_NUMBER, "GPS fix acquired. Vehicle tracking active.")

# --- 2. Check GSM Network Connection ---

if gsm_initialized and not gsm_connected:

if time.ticks_diff(current_time_ms, last_gsm_check_ms) >= GSM_CHECK_INTERVAL_MS:

response = send_at_command('AT+CREG?', 500, 2000)

if '+CREG: 0,1' in response or '+CREG: 0,5' in response:

gsm_connected = True

gsm_led.on()

print("\n✓ GSM Network Connected!")

send_sms(ADMIN_NUMBER, "Vehicle Tracking System is online.")

last_location_sent_ms = current_time_ms

elif '+CREG:' in response:

print("GSM not registered yet, will retry...")

last_gsm_check_ms = current_time_ms

# --- 3. Interval Location Reporting ---

if gsm_connected and gps_fix_acquired and has_valid_gps_data():

if time.ticks_diff(current_time_ms, last_location_sent_ms) >= LOCATION_INTERVAL_MS:

location_message = get_current_location_string()

send_sms(ADMIN_NUMBER, location_message)

last_location_sent_ms = current_time_ms

# --- 4. Check for Incoming SMS ---

if gsm_uart.any():

response = gsm_uart.read().decode('utf-8', 'ignore')

if '+CMT:' in response:

print(f"\nIncoming SMS: {response}")

if 'location' in response.lower():

print("Location request via SMS")

location_message = get_current_location_string()

send_sms(ADMIN_NUMBER, location_message)

# --- 5. Check for Console Commands (Simplified for MicroPython) ---

# Note: Interactive input via REPL may be limited during runtime

# Consider using a button or external trigger for commands in production

try:

# Simple polling approach for MicroPython

# This may not work in all environments - use hardware buttons as alternative

import select

if select.select([sys.stdin], [], [], 0)[0]:

char = sys.stdin.read(1)

if char == '\n' or char == '\r':

# Process the command

cmd = input_buffer.strip().lower()

input_buffer = ""

if cmd == 'x':

print_debug_report()

elif cmd == 't':

print("\nTesting SMS...")

send_sms(ADMIN_NUMBER, "Test message from Vehicle Tracker")

elif cmd == 'l':

print("\nCurrent Location:")

print(get_current_location_string())

elif cmd != '':

print(f"\nUnknown command: '{cmd}'")

print("Valid commands: x (debug), t (test SMS), l (location)")

else:

input_buffer += char

except:

# If select is not available or fails, skip input checking

pass

# Small delay

time.sleep_ms(50)

except KeyboardInterrupt:

print("\n\nShutting down...")

break

except Exception as e:

print(f"\nError in main loop: {e}")

time.sleep_ms(500)

print("System stopped.")

Troubleshooting

GPS Not Getting Fix

Ensure GPS antenna has clear view of the sky.
Wait 2-5 minutes for initial satellite lock (cold start)
Check UART connections (TX/RX not reversed)
Verify 3.3V power supply to GPS module

GSM Module Not Responding

Check power supply (needs 3.7-4.2V with sufficient current)
Verify SIM card is active and has credit
Check antenna connection
Ensure correct APN settings for your carrier
Try AT commands manually to test the module.

No SMS Received

Verify phone number format (include country code)
Check if the SIM card has SMS capability
Ensure GSM module is registered on the network.
Check signal strength in your area

Code Upload Fails

Ensure MicroPython firmware is properly installed
Check USB cable connection
Try different USB port
Restart Thonny IDE

Working Video and Tutorial

Congratulations! You’ve successfully built your GPS Vehicle Tracker using Raspberry Pi Pico. A demonstration video of this project can be viewed here: Watch Now

Thank you for your interest in this project. If you have any questions or suggestions for future projects, please leave a comment, and I will do my best to assist you.

For business or promotional inquiries, please contact me via email at Email.

I will continue to update this instructable with new information. Don’t forget to follow me for updates on new projects and subscribe to my YouTube channel (YouTube: roboattic Lab) for more content. Thank you for your support.