Intern
ati
o
n
a
l
Journ
a
l of
Re
con
f
igur
able
and Embe
dded
Sys
t
ems
(I
JRES)
V
o
l.
4, N
o
. 1
,
Mar
c
h
20
15
,
pp
. 28
~41
I
S
SN
: 208
9-4
8
6
4
28
Jo
urn
a
l
h
o
me
pa
ge
: h
ttp
://iaesjo
u
r
na
l.com/
o
n
lin
e/ind
e
x.ph
p
/
IJRES
Design and Development of Low
Cos
t
Navigati
on and Security
System for Indian Fisherman
Usi
n
g Adri
no Nano Platform
San
k
et Dess
ai
,
Mahir M.
M
.
,
M
a
y
u
r R.,
Ni
lkant
h
a
Sin
g
h
a
, Vinu
th
a Av
ara
dhi
Department o
f
C
o
mputer Engin
e
eri
ng, M.S. Ramaiah
School of A
dvanced
Studies
, Bangalore-5600
58, India
Article Info
A
B
STRAC
T
Article histo
r
y:
Received Sep 12, 2014
Rev
i
sed
D
ec 10
, 20
14
Accepte
d Ja
n
5, 2015
The fishing
indu
str
y
p
l
ay
s a major role
in d
e
velopment of Indian econom
y
.
The recent attacks on fishermen ta
king place
in Indo-Srilanka and Indo-
Pa
kista
n
ma
ritime
bounda
rie
s
ha
ve
be
e
n
ma
jor c
once
r
ns.
These
a
t
ta
c
k
s
a
r
e
primarily
caused
b
y
the lack of
navi
gation and s
ecurity
features
during the
vo
y
a
g
e
. Hen
ce
t
h
e curren
t
s
itua
t
ion de
mands the implementation
of precise
facilities for red
u
cing man and
material
loss. T
h
is paper invo
lv
es the desig
n
and im
plem
ent
a
t
i
on of a
Low
cos
t
Navig
a
tion
and
S
ecurit
y
S
y
s
t
em
for Indi
an
fishermen on Arduino Nano platform. Th
e s
y
s
t
em develop
e
d
solves the
above said issues b
y
continously track
ing the
location of fishing
vessel and
providing minimal secur
i
ty
f
eatu
r
es. Th
e
s
y
st
em
e
n
sures that n
a
vi
gation
is in
safe zone with
in
the nation’s m
a
r
itim
e boundar
y
and also prevents
crossover.
This is acheiv
e
d using GPS
recei
ver whic
h direc
t
l
y
links to GP
S
sate
llit
es for
current lo
cat
ion of the vessel. T
h
e required da
ta
fields like the l
a
titud
e
an
d
longitude data
along with
th
e time
stamps are ex
tracted
fro
m the GPS
sam
p
les and use
d
for com
p
arisio
n for det
e
rm
inin
g the ex
ac
t lo
ca
tion of th
e
vessel.
This pro
cedure
will
help
in de
te
ction
of
corner
cas
es
wh
en th
e ves
s
e
l
is nearing or ab
out to crossover
the m
a
ritim
e b
oundar
y
, which
cannot b
e
marked ph
y
s
ically
. It is useful for triggering
conditions lik
e enabling or
disabling fu
el in
jection s
y
s
t
em, the wa
rning b
e
eps and display
n
o
tifications
to the fis
h
erm
e
n
.
M
a
nual overr
id
e faci
lit
y for res
t
arting th
e engin
e
in cas
e of
crossover for limited duration
is provi
ded.
The s
ecur
i
t
y
f
eatur
es
like
authen
tication fo
r the genuin
e
op
erator
to
get
access to the engin
e
panel, th
e
support for distress message an
d the st
orage of
the exact time
stamps and
GP
S
locations
a
f
ter en
cr
ypt
i
on i
n
cas
e
of
initiation of transmitting distress
message is provided as
a blackb
ox f
eatu
r
e.
Th
e
pas
s
c
ode bas
e
d
m
echanis
m
a
l
l
o
ws for ma
ximum of t
h
re
e
a
t
te
mpt
s
to unlo
c
k
access to
control panel. Th
e
GSM
modem allows for transmission of
distre
s
s
me
ssa
ge
to the
re
giste
r
e
d
bas
e
s
t
ation
/
co
a
s
t guard. The
e
n
cr
y
p
ted GP
S
sam
p
les
and tim
e s
t
am
ps
are
stored in
on-ch
ip
EEPROM memo
r
y
for fu
ture ref
e
rence.
Keyword:
A
d
r
i
no
Fisherm
e
n
GPS
Navi
gat
i
o
n
Security
Copyright ©
201
5 Institut
e
o
f
Ad
vanced
Engin
eer
ing and S
c
i
e
nce.
All rights re
se
rve
d
.
Co
rresp
ond
i
ng
Autho
r
:
Sanket De
ssai,
Depa
rt
em
ent
of C
o
m
put
er
En
gi
nee
r
i
n
g,
M.S.Ram
a
iah
Scho
o
l
of
A
dvan
ced
Stud
ies,
#
470
-
P
, Peen
y
a
In
du
str
i
al
A
r
ea, Bang
alor
e,
K
a
rn
atak
a, India. 56
005
8.
Em
a
il: san
k
e
tdessai@m
s
rsas.o
rg
1.
INTRODUCTION
The Tam
i
l Nadu
fact
or i
n
In
di
a-S
r
i
Lan
k
a rel
a
t
i
ons
th
at
h
a
d
b
een
qu
iet fo
r long
h
a
s
co
m
e
to
th
e
fo
rce i
n
t
h
e
f
o
r
m
of t
h
e
fi
she
r
m
e
n i
ssue
.
F
r
e
que
nt
i
n
ci
de
nt
s
o
f
fi
she
r
m
e
n f
r
om
Tam
i
l
Nadu
g
e
t
t
i
ng
sh
ot
i
n
t
h
e
Sr
i Lank
an
’
s
mar
iti
me b
o
und
ar
y h
a
v
e
en
r
a
g
e
d
all citizen
o
f
th
e state. Fro
m
Ta
mil N
a
d
u
abou
t 1
8
,000 b
o
a
ts
of
di
ffe
re
nt
ki
nds c
o
nd
uct
fi
shi
n
g al
o
ng t
h
e In
di
a-S
r
i
Lanka m
a
ri
t
i
m
e
bo
r
d
er. E
v
e
r
si
nce vi
ol
ence b
r
o
k
e o
u
t
in Sri La
nka t
w
o
deca
des a
g
o, fis
h
ing activity has not
bee
n
peace
ful. Ta
mil Nadu fis
h
e
r
m
e
n are arrest
ed,
or
shot
, by the Sri Lankan
Navy
. From
the fisherm
e
n'
s
poi
nt of vie
w
, straying takes
place inadverte
n
tly, due to
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
SN
:
2
089
-48
64
I
J
RES Vo
l. 4
,
N
o
. 1
,
Mar
c
h
20
15
:
28
–
41
29
sh
eer igno
ran
c
e abou
t m
a
riti
me b
oun
d
a
ries. At
ti
m
e
s, th
e
dri
f
t
i
s
be
cause
o
f
e
ngi
ne
fai
l
u
re
o
r
st
ro
n
g
c
u
r
r
ent
s
(
R
o
y
-
Ch
aud
h
u
ry Ra
hul
)
.
A
t
t
h
e sam
e
tim
e ho
we
ver
,
q
u
i
t
e a few
I
ndi
a
n
fi
she
r
m
e
n eng
a
ge i
n
free
fl
oa
t
i
ng t
o
ex
p
l
o
it m
a
rin
e
resources in Sri Lan
k
a
n
waters,
kn
owi
n
g
fu
ll well,
th
e risks inv
o
lv
ed
i
n
cro
ssi
n
g
t
h
e
In
tern
ation
a
l Mariti
m
e
Bo
un
d
a
ry Lin
e
(IMBL). Grow
i
ng m
a
rkets fo
r m
a
rine reso
urces
has f
o
rc
ed Tam
il
Nadu
fishe
r
m
e
n to take
risks.
1.1. Applicati
o
n of
GP
S
in Fishermen Navigati
on Sys
t
e
m
GPS
(Gl
o
b
a
l Po
sition
i
ng
Sy
ste
m
) is in
creasin
g
l
y b
e
i
n
g
u
s
ed
fo
r a
wi
d
e
rang
e of ap
p
lication
s
.
It
pr
o
v
i
d
es
rel
i
a
b
l
e po
si
t
i
oni
n
g
,
navi
gat
i
o
n
,
a
n
d t
i
m
i
ng ser
v
i
ces t
o
w
o
rl
dwi
d
e use
r
s
o
n
a
co
nt
i
n
u
o
u
s
basi
s
i
n
al
l
weat
he
r,
day
a
n
d
ni
ght
,
any
w
here
o
n
or
nea
r
t
h
e Ea
rt
h.
GPS is m
a
de up of three se
gmen
ts:
Space, Control
and User. GPS ha
s
becom
e
a widely used ai
d to
navi
gat
i
on
w
o
r
l
dwi
d
e
,
an
d a
usef
ul
t
o
ol
f
o
r
m
a
p-m
a
ki
ng, l
a
nd s
u
rvey
i
n
g,
com
m
e
rce, sci
e
nt
i
f
i
c
uses
, t
r
a
c
ki
n
g
an
d
surv
eillan
c
e, and
hob
b
i
es
su
ch
as g
e
o
cach
i
ng
and
way mark
ing
.
Non
e
o
f
th
e
presen
t
GPS system
s satisfy
th
e req
u
i
rem
e
n
t
s for th
e safet
y
o
f
civ
ilian
n
a
v
i
g
a
tion
in
t
h
e
sea as th
e m
a
riti
m
e
b
o
u
n
d
a
ry
o
f
a cou
n
t
ry can
n
o
t
be m
a
rked
.
Th
is
work adds on
th
e v
e
rsatility an
d
th
e
u
s
efu
l
n
e
ss
o
f
a
GPS
d
e
v
i
ce i
n
the sea. Th
e m
a
i
n
o
b
j
ective
of t
h
e sy
st
em
i
s
t
o
hel
p
t
h
e
fi
she
r
m
e
n not
t
o
na
vi
gat
e
be
y
o
n
d
c
o
u
n
t
r
y
’
s b
o
r
d
er
. I
f
a
fi
she
r
m
a
n navi
gat
e
s
bey
o
nd t
h
e co
u
n
t
r
y
’
s
bo
r
d
er,
an al
arm
i
s
generat
e
d i
n
di
cat
i
ng t
h
at
t
h
e fi
s
h
erm
a
n has near
i
ng t
h
e
b
o
r
d
er
.
W
i
t
h
this alarm
,
the fishe
r
m
a
n can
be ca
ution
and com
e
b
ack
in
sid
e
th
e co
un
try
’
s bord
e
r.
Ad
ditio
n
a
lly, a m
e
ssag
e
tran
sm
it
ter is i
n
terfaced
wit
h
th
e d
e
v
i
ce to
sen
d
a m
e
ssag
e
to
b
a
se statio
n
lo
cated
on
th
e
sh
ore ind
i
cating
th
at
a vessel
has
cr
osse
d t
h
e
b
o
r
d
e
r. T
h
us c
o
ast
gua
r
d
s i
n
t
h
e
s
h
o
r
e ca
n as
si
st
and
p
r
ovi
de a
d
di
t
i
onal
hel
p
t
o
t
h
o
s
e
fi
she
r
m
e
n i
f
ne
eded
.
1
.
2
.
Cha
lleng
es in Using the
Sy
stem
There a
r
e m
a
ny challenges a
ssociat
ed
with the accuracy and
use
f
ul
ness
of
navi
gation syste
m
in
m
a
ri
ne en
vi
r
o
nm
ent
.
For
fi
s
h
erm
a
n na
vi
ga
t
i
on sy
st
em
t
h
ere are l
i
m
it
at
ions
o
n
t
h
e e
q
u
i
pm
ent
used a
nd t
h
e
quality of the
GPS data. GPS data
reception
may not be
c
o
nsistent due
vari
ous
rea
s
ons like cloudine
ss.
2.
BOU
NDA
RY
LOC
A
T
ION
The p
r
act
i
ce of app
r
e
h
en
di
n
g
Indi
a
n
fi
she
r
m
e
n, al
on
g wi
t
h
t
h
ei
r bo
at
s, has bee
n
f
o
l
l
o
wed
by
Sri
-
Lan
k
an
Navy
a
nd M
a
ri
t
i
m
e
Securi
t
y
Age
n
c
y
(M
SA)
of Pa
ki
st
an.
In
di
an
C
o
ast
G
u
ar
d o
r
t
h
e In
di
an
nav
y
doe
s
th
e sam
e
to
Pak
i
stan
i an
d Sri Lank
an
fisherm
e
n
,
du
e
t
o
w
h
i
c
h
p
o
o
r
fi
sherm
e
n o
n
al
l
si
des
have
s
u
f
f
ere
d
(Karth
ik
eyan
R). as shown in
Fi
g
u
re
1
.
2.
1. B
o
un
dar
y
Loc
a
tions
between Srilank
a an
d In
dia
The m
a
ri
t
i
m
e
bo
u
nda
ry
bet
w
een
Sri
Lan
k
a a
n
d
I
ndi
a i
n
t
h
e
G
u
l
f
o
f
M
a
nna
r i
n
t
e
rm
s of G
P
S
l
o
cat
i
ons
has
been
de
pi
ct
ed
wi
t
h
t
h
e l
i
s
t
e
d
po
si
t
i
ons i
n
T
a
bl
e 1
., i
n
t
h
e
seq
u
ence
gi
ve
n bel
o
w,
defi
n
e
d by
latitu
d
e
and
l
o
n
g
itud
e
:
Tabl
e
1.
GP
S l
o
cat
i
o
n
s
f
o
r I
n
do
-S
ri
l
a
nka
n
m
a
ri
t
i
m
e
bo
un
dary
POSIT
I
ON
S
LAT
I
TU
DE
LONG
ITU
D
E
Position 1
09
06’
.
0
N
79
32’
.
0
E
Position 2
09
00’
.
0
N
79
31’
.
3
E
Position 3
08
53’
.
8
N
79
29’
.
3
E
Position 4
08
40’
.
0
N
79
18’
.
2
N
Position 5
08
37’
.
2
N
79
13’
.
0
E
Position 6
08
31’
.
2
N
79
04’
.
7
E
Position 7
08
22’
.
2
N
78
55’
.
4
E
Position 8
08
12’
.
2
N
78
53’
.
7
E
Position 9
07
35’
.
3
N
78
45’
.
7
E
Position 10
07
21’
.
0
N
78
38’
.
8
E
Position 11
06
30’
.
8
N
78
12’
.
2
E
Position 12
05
53’
.
9
N
77
50’
.
7
E
Position 13
05
00’
.
0
N
77
10’
.
6
E
Whi
l
e
t
h
e m
a
rit
i
m
e
bou
nd
ary
bet
w
ee
n S
r
i
La
nka
an
d
I
ndi
a i
n
t
h
e
B
a
y
o
f
B
e
ngal
i
s
sh
o
w
n
i
n
Ta
bl
e
2.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
RES I
S
SN
:
208
8-8
7
0
8
D
e
sign
an
d D
e
velo
p
m
e
n
t
o
f
Lo
w Co
st
Na
viga
tio
n and
S
ecurity S
y
stem
f
o
r
I
n
d
i
an
…
(Sanket D
e
ssa
i
)
30
Tab
l
e
2
.
Maritime b
o
u
n
d
a
ries
in
Bay of Ben
g
al
POSIT
I
ON
S
LAT
I
TU
DE
LONG
ITU
D
E
Position 1
10
05’
.
0
N
80
03’
.
0
E
Position 2
10
05’
.
8
N
80
05’
.
0
E
Position 3
10
08’
.
4
N
80
09’
.
5
E
Position 4
10
33’
.
0
N
80
46’
.
0
E
Position 5
10
41’
.
7
N
81
02’
.
5
E
Position 6
11
02’
.
7
N
81
56’
.
0
E
Position 7
11
16’
.
0
N
82
24’
.
4
E
Fi
gu
re
1.
G
r
ap
hi
cal
R
e
pr
esen
t
a
t
i
on o
f
In
di
a-
Sri
l
a
n
k
a m
a
ri
t
i
m
e
bo
rde
r
[6]
2.2.
Fisherme
n Issue
s
be
tween Indi
a
and
Sri-Lanka
In t
h
e case
of
Indian-Srilanka, ther
e is no
ph
ysical b
oun
d
a
r
y
in
th
e
sea.
In m
o
st cases fi
shing
boats
can
un
willing
l
y an
d
un
in
ten
tio
n
a
lly cro
ss i
n
to
th
e o
t
h
e
r
t
e
rritories b
ecau
s
e of tid
al curren
t
s, eng
i
n
e
failu
re,
wind force
,
cyclones etc. T
h
e appre
h
en
di
n
g
f
o
rce i
s
kee
n
l
y
wat
c
hi
n
g
and
fol
l
owi
ng
t
h
em
wi
t
h
a vi
ew o
f
arresting
or attack
ing
th
em
(
Dahanayak
a
Piumali
). S
r
i
Lan
k
an
fi
she
r
m
e
n, w
ho
ven
t
ure o
n
hi
g
h
s
eas fo
r
‘m
u
lti-d
a
y fishin
g’, are also
cau
g
h
t
p
o
a
ch
i
n
g in
Ind
i
an waters.
2.
3.
Maritime
Bound
ar
y be
tween India an
d P
a
kistan
In
di
a–
Paki
st
an
m
a
ri
t
i
m
e
t
r
espassi
n
g
refe
rs
t
o
t
h
e fre
q
u
en
t
t
r
espassi
ng
a
nd
vi
ol
at
i
o
n o
f
res
p
ect
i
v
e
national te
rritorial
waters
of
India a
n
d Pa
kist
an
in
peacetime. Most trespa
ssing is
common to Pa
kistani and
In
di
an
fi
s
h
erm
e
n
ope
rat
i
n
g al
on
g t
h
e coast
l
i
n
e of t
h
e In
di
an st
at
e of
Gu
ja
rat
an
d t
h
e Paki
st
ani
pr
ovi
nc
e
o
f
Sindh
. M
o
st v
i
o
l
ation
s
o
c
cu
r
du
e t
o
th
e ab
sen
ce
o
f
a physical b
o
u
n
d
a
ry an
d lack
of
nav
i
g
a
tion
a
l
tools f
o
r
sm
al
l
fi
sher
m
e
n. H
u
nd
red
s
of
fi
sherm
e
n are arrest
e
d
by
t
h
e
C
o
ast
G
u
ar
ds
of b
o
t
h
nat
i
o
ns
, but
o
b
t
a
i
n
i
n
g
t
h
ei
r
release is
d
i
fficu
lt and
long
-wi
n
d
e
d
owing
to
th
e ho
stile relatio
n
s
b
e
tween
t
h
e two
n
a
tion
s
[].
2.4.
Fisherme
n Issue
s
be
tween Indi
a
and
Pakis
t
an
Th
e lon
g
-standin
g
territo
rial d
i
spu
t
es and
military c
o
n
f
licts b
e
tween
In
d
i
a an
d
Pak
i
stan h
a
v
e
led
t
o
v
i
g
ilan
t
and
strict p
a
tro
llin
g
of territorial waters in
th
e
Arabian
Sea
an
d
the co
astlin
e sh
ared
along
th
e In
d
i
an
st
at
e of G
u
jar
a
t
and t
h
e
Pa
ki
st
ani
p
r
o
v
i
n
ce of Si
nd
h
by th
e
Mariti
me Secu
rity
Agency
of Pa
kistan and
th
e
Ind
i
an
Co
ast G
u
ard
.
Th
e ab
sen
ce o
f
a ph
ysical b
o
undar
y
an
d
lack
of
p
r
op
er
d
e
m
a
r
catio
n
leav
es
sm
a
l
l
fish
ing
bo
ats an
d trawlers su
scep
tib
le to
illeg
a
lly cro
ssi
ng
territorial waters. Th
e
p
r
o
b
l
em
is agg
r
av
ated
b
y
th
e
d
i
spu
t
e
o
v
e
r t
h
e
Sir C
r
eek
in
Ku
tch
an
d th
e
failu
re to
officially d
e
term
in
e th
e m
a
riti
me b
o
und
ary
b
e
tween
the
t
w
o nat
i
o
ns.
M
o
st
l
o
cal
fi
s
h
erm
e
n
p
o
sses
s
n
o
na
vi
gat
i
o
nal
t
o
ol
s
a
n
d are una
bl
e or
i
n
capa
b
l
e
of
d
e
t
e
rm
i
n
e
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I
S
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:
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64
I
J
RES Vo
l. 4
,
N
o
. 1
,
Mar
c
h
20
15
:
28
–
41
31
th
eir lo
catio
n
by lo
ng
itu
d
e
s
o
r
lati
tu
d
e
s. Ev
en
th
e terro
r
ists respon
sib
l
e fo
r 2
0
0
8
Mu
m
b
ai attack
s g
a
in
ed en
try
through sea
route after hi
jac
k
ing a
fis
h
in
g
bo
at as
r
e
pr
esented
in
Figu
r
e
2.
Ind
i
an
au
tho
r
i
ties esti
mate t
h
at m
o
re th
an 1
0
0
fish
ing
b
o
a
ts an
d
admit
th
at th
ey
o
f
ten
cann
o
t
ascert
a
i
n
ho
w m
a
ny
fi
she
r
m
e
n had
st
ray
e
d
(
K R
Srini
v
as
an
).
During
p
e
riod
s
o
f
im
p
r
ov
em
en
t in
b
ilateral
rel
a
t
i
ons,
t
h
e
g
ove
r
n
m
e
nt
s of
bot
h
nat
i
o
n
s
h
a
ve t
a
ke
n
st
eps
t
o
rel
ease
i
m
p
r
i
s
o
n
ed
fi
s
h
er
m
e
n as a
c
o
nfi
d
ence
-
buildi
ng m
easure
and gest
ures of peace a
nd
goodwill.
In
2006, Pa
kistan released
more tha
n
400
India
n
fi
she
r
m
e
n (i
ncl
udi
n
g
3
0
chi
l
dre
n
) a
nd
In
di
a reci
pr
ocat
ed
by
rel
easi
ng
1
30 Pa
ki
st
ani
fi
sherm
e
n, b
u
t
cl
aim
e
d
th
at as m
a
n
y
as 35
0 fish
erm
e
n
were still lan
g
u
i
sh
i
n
g in
Pak
i
stan
i j
a
ils.
Fi
gu
re 2.
Sea R
out
e
Ta
ke
n b
y
t
h
e
Terro
r
i
st
f
o
r
Mu
m
b
ai A
t
tack
[6
]
3.
DESIG
N
A
N
D
DEVELOP
M
ENT
The f
unct
i
o
nal
bl
ock
di
ag
ram
for t
h
e
pr
op
os
ed sy
st
e
m
with
ad
equ
a
te p
e
ri
p
h
e
ral in
terfaces is sh
o
w
n
in
Figur
e
3
.
Fi
gu
re
3.
F
unct
i
onal
B
l
oc
k
di
a
g
ram
fo
r t
h
e
p
r
op
ose
d
sy
st
em
As shown
in
Fig
u
re 3
th
e syste
m
is p
r
imarily
dri
v
e
n
b
y
curre
nt
GP
S
l
o
cat
i
ons o
f
f
i
shi
n
g vessel
hence
on the
input side
GP
S recei
ver m
odule
is inte
rfa
ced.
The
data from
GPS
re
ceiver is
recei
ved in
standa
rd NME
A
form
at in the form
of
pac
k
et digital data. An input
key
p
ad m
odule is
use
d
to
facilitate the
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
RES I
S
SN
:
208
8-8
7
0
8
D
e
sign
an
d D
e
velo
p
m
e
n
t
o
f
Lo
w Co
st
Na
viga
tio
n and
S
ecurity S
y
stem
f
o
r
I
n
d
i
an
…
(Sanket D
e
ssa
i
)
32
en
tering
of p
a
sscod
e for au
t
h
eticatio
n
of op
erat
o
r
. Th
e ou
tpu
t
p
e
ri
p
h
e
rals will co
n
s
ist o
f
a d
i
sp
lay u
n
it to
d
i
sp
lay
v
a
ri
o
u
s m
e
ssag
e
no
tificatio
n
s
to
operato
r in run
time co
nd
itio
n
s
. Th
e EEPROM m
e
m
o
ry is u
s
ed
to
support storage of GPS data
along
with tim
e sta
m
ps
in
case of
distres
s
signalling em
ula
ting blac
k box
su
ppo
rt. Th
e
actu
a
to
rs
for fu
el in
j
ection
cu
t-o
f
f du
ri
n
g
b
oun
d
a
ry cro
s
so
ver co
nd
ition
s
and
a bu
zzer fo
r
warn
ing
b
e
ep
s wh
ile n
e
aring in
tern
ation
a
l mariti
me
bou
n
d
ary
i
s
al
so p
r
ovi
ded
.
The
G
S
M
m
odem
i
s
al
so
in
terfaced
fo
r su
ppo
rting
d
e
liv
ery of d
i
stress
m
e
ssag
e
to
base statio
n or
co
ast
g
u
a
rd
.
The pr
o
c
essing
l
o
g
i
c for
th
e syste
m
is s
p
lit u
p
acro
ss
two
co
m
p
u
ting p
l
atfo
rm
s o
f
si
m
i
lar sp
ecificatio
n
s
. Th
e reaso
n
s for u
s
i
n
g two
pl
at
fo
rm
s i
n
cl
ude t
h
e l
ack of
adeq
uat
e
am
ount
of G
P
I
O
pi
n
s
for i
n
t
e
r
f
aci
n
g
cert
a
i
n
pe
ri
p
h
eral
s an
d t
h
e nee
d
for m
u
ltip
le UART
p
r
o
t
o
c
o
l
co
m
p
atib
le tran
sm
it
ter and
receiv
e
r
p
i
n
s
.
3.
1.
S
y
ste
m
F
l
ow
Di
a
g
r
a
m
Th
e
Figu
r
e
4
sh
ow
s th
e
pr
op
o
s
ed f
l
ow
ch
ar
t pr
o
c
essing
l
o
g
i
c
on
p
l
atf
o
r
m
b
o
a
rd
-1
for
th
e g
i
v
e
n
syste
m
.
Fi
gu
re
4.
Fl
o
w
chart
fo
r
pr
oce
ssi
ng
l
o
gi
c pl
at
fo
rm
boar
d
-
1
The boa
r
d-1
will be interface
d to
key
p
ad m
o
dule,
GPS re
c
e
iver m
odule a
nd act
uators for triggering
act
i
ons o
f
f
u
e
l
i
n
ject
i
on c
u
t
-
o
ff i
n
case
o
f
b
o
u
n
d
ary
cr
oss
ove
r an
d
war
n
i
n
g bee
p
s
whi
l
e
nea
r
i
n
g t
h
e
in
ter
n
ation
a
l
mar
iti
me b
ound
ar
y. Th
e log
i
c on
p
l
atfo
r
m
b
o
a
rd
-1
i
n
ter
a
cts w
ith
l
o
g
i
c
o
n
p
l
atfor
m
b
o
a
rd
-2
sig
n
a
lling
ex
act in
d
i
cato
r
s for th
e
m
e
ssag
e
strin
g
s
to
b
e
d
i
sp
layed
und
er
v
a
ri
o
u
s
scen
ario
s and
also
req
u
e
st
si
gnal
fo
r e
n
a
b
l
i
ng t
r
a
n
sm
i
ssion
o
f
distress
m
e
ssage in ca
s
e
of ‘
SOS
’ b
u
t
t
o
n
in
itiatio
n
,
sin
ce p
l
atform
b
o
a
rd
-2
will b
e
in
terfaced
to LCD and GSM m
o
d
e
m
(
AT &
T
).
The
dat
a
fl
ow
f
o
r
l
o
gi
c o
n
b
o
a
r
d
-
1
i
s
gi
ve
n as
f
o
l
l
o
ws:
Step 1
: The
output ports for LCD dis
p
lay indicators,
dist
ress m
e
ssage indicator,
fuel
injection status and
warn
ing
b
eep are
in
itialized
an
d
referen
ce GPS bo
und
ary
lo
catio
n
s
and p
a
ssco
d
e are set. Th
e p
a
ssco
d
e
fun
c
tion
a
lity is in
itiated
.
Step 2
:
T
h
e pa
ssco
d
e fu
nct
i
o
n sam
p
l
e
s t
h
e
user
passc
ode
a
nd c
o
m
p
ares against the re
ference
passc
ode while
up
dat
i
n
g LC
D
di
spl
a
y
dat
a
i
ndi
cat
o
r
s f
o
r eve
r
y
case (i
.e. A
u
t
h
ent
i
c
at
i
on su
ccessf
ul
or
u
n
s
u
cce
ssful
).
Evaluation Warning : The document was created with Spire.PDF for Python.
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S
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:
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64
I
J
RES Vo
l. 4
,
N
o
. 1
,
Mar
c
h
20
15
:
28
–
41
33
Maxim
u
m of three reattem
p
ts are allo
wed i
n
case of w
r
on
g passc
o
d
e ent
r
y
,
on cr
ossi
ng
whi
c
h t
h
e sy
st
em
i
s
bl
oc
ked
.
On
s
u
ccessf
ul
aut
h
en
t
i
cat
i
on co
nt
r
o
l
i
s
swi
t
c
he
d t
o
servi
c
e
k
ey
f
u
n
c
t
i
on.
Step
3
:
In servicek
ey fu
n
c
tion
inpu
t fro
m
th
e cu
sto
m
k
e
yp
ad
is sam
p
led, if t
h
e inpu
t is ‘E’ (i.e
b
y
pressin
g
b
u
tton
E) th
en
SOS fu
nctio
n
a
lity is p
e
rfo
r
m
e
d
b
y
enab
li
ng req
u
e
st
sign
al
for
d
i
stress m
e
ssag
e
t
r
an
sm
issio
n
to
pl
at
fo
rm
boar
d
-2
. The
n
t
h
e t
i
m
e st
am
p fro
m
GPS sam
p
l
e
s i
s
st
ore
d
i
n
on
-c
hi
p EE
PR
OM
m
e
m
o
ry
rangi
ng
fr
om
20
th
l
o
cat
i
on t
o
23
rd
loca
tions (i.e. ‘
h
h
-
m
m
’
form
at).
Step 4
:
The
GPS l
o
cat
i
o
n
s
are enc
r
y
p
t
e
d
by
passi
ng t
h
e
val
u
es t
o
ci
pe
r
al
go
ri
t
h
m
(‘en
c
ry
pt
’
fu
nct
i
o
n
)
. T
h
e
i
ndi
vi
dual
n
u
m
b
ers
fr
om
t
h
e passe
d v
a
l
u
e a
r
e sep
a
rat
e
d
an
d checke
d
within the case l
o
gic. In
eve
r
y ca
se the
characte
r
to re
place eac
h
num
b
er is read from
a global
c
h
aracter array
(i.e.
nam
e
d as
‘Elem
e
nts’) us
ing t
h
e
num
ber
itself as
the
index poi
nter. The replaced
c
h
arac
ter for eac
h num
b
er is store
d
in a
not
her
globa
l
characte
r
array
(i.e. nam
e
d ‘R
esults’).
Step 5
: th
e encryp
ted
GPS lo
catio
ns are
re
ad from
globa
l
character a
r
ray
(i
.e. nam
e
d
‘R
esul
t
s
’
)
a
n
d t
h
e
n
st
ore
d
i
n
EEP
R
O
M
m
e
m
o
ry
ran
g
i
n
g fr
om
24
th
lo
cation
to 2
7
th
lo
cation
,
w
h
ile also
updatin
g
SOS no
tif
icatio
n
th
ro
ugh
LC
D
disp
lay in
d
i
cator
s.
Step 6
: If th
e
in
pu
t sam
p
led
is ‘F’ th
en
man
u
a
l ov
erri
d
e
fun
c
tio
n
a
lity is en
ab
led
an
d th
e fu
el in
j
ect
io
n
is
enabl
e
d an
d t
h
e buzze
r i
s
di
sabl
ed f
o
r t
h
e
next
fi
v
e
m
i
nut
es i
rrespect
i
v
e of pr
evi
ous t
r
i
g
geri
n
g
co
n
d
i
t
i
ons
whi
l
e
u
p
d
at
i
n
g
t
h
e LC
D di
s
p
l
a
y
i
ndi
cat
ors.
Up
on t
h
e ret
u
r
n
f
r
om
fi
ve m
i
nut
es del
a
y
,
t
h
e cont
rol
fl
ow i
s
t
r
anfe
re
d t
o
G
PS sam
p
l
e
fu
n
c
t
i
on.
If
bot
h S
O
S a
n
d M
a
nua
l
ove
rri
de c
o
nd
i
t
i
ons ar
e
not
d
e
t
ect
ed, c
ont
r
o
l
fl
o
w
is d
i
rectly swicth
ed
t
o
GPS sam
p
le fu
n
c
tion
.
Step 7
: In
GPS sam
p
le fu
n
c
tio
n
th
e av
ailab
ility o
f
GPS
d
a
ta
is ch
eck
e
d
b
y
read
i
n
g
statu
s
o
f
serial
b
u
ffer.
On
ce
d
a
ta is a
v
ailab
l
e th
e sam
p
les
ar
e capture
d in a character array. The
sa
m
p
led data in character a
rray is
scan
ned
f
o
r
fin
d
in
g
‘$
GPRM
C’ strin
g
.
Step: Upon a s
u
ccess
f
ul m
a
tc
h the
data
from
various
po
si
tions i
n
GPRM
C pac
k
et is ret
r
ieve
d a
n
d bifurcated
with
th
e h
e
l
p
of ind
e
x
to
t
h
e l
o
catio
ns
o
f
p
a
rticu
l
ar d
a
ta. The ti
m
e
sta
m
p
in
term
s o
f
hou
rs and
m
i
n
u
t
es data is
ex
tracted, and
GPS lo
cation
s
in
term
s o
f
latitu
d
e
and
l
o
n
g
i
t
ude
deg
r
ee a
n
d
l
a
t
i
t
ude a
n
d l
o
ngi
t
u
de
m
i
nut
es are
also
ex
tracted, with
p
o
sitio
n
re
fere
nce
fr
om
NM
EA
f
o
rm
at.
Step 8
:
R
e
st
o
f
t
h
e dat
a
fr
om
ot
her fi
el
ds
of
GPR
M
C
st
ri
ng i
s
i
gno
re
d. T
h
e sel
ect
ed dat
a
ret
r
ei
ved
whi
c
h i
s
characte
r
form is typecasted and c
o
nve
r
ted
to integer
format
through s
o
m
e
s
m
all
com
putational operations
,
with a
view of
com
p
ar
ing the
m
against the prespeci
fied
r
e
fer
e
n
c
e
GPS bou
nd
ar
y
lo
cation
s
.
Step 9
: Th
e
co
n
t
ro
l
flow is th
en p
a
ssed to
GPS co
m
p
are
f
unct
i
o
n
whe
r
e t
h
e
co
n
d
i
t
i
on c
h
ec
k f
o
r t
h
e
app
r
op
ri
at
e La
t
i
t
ude a
n
d
Lo
ngi
t
u
de
de
gree
i
s
d
o
n
e
by
c
o
m
p
ari
n
g
sam
p
l
e
d
GP
S
val
u
es a
n
d
pres
p
eci
fi
ed
refe
rence
bounda
ry locations. Upon
failed condition t
h
e
fuel injection is
cut off,
buzzer is ena
b
led and
not
i
f
i
cat
i
o
n o
f
cut
of
f i
s
up
d
a
t
e
d o
n
LC
D
di
spl
a
y
i
ndi
cat
ors
.
U
p
o
n
pa
s
s
con
d
i
t
i
on t
h
e
con
d
i
t
i
on c
h
e
c
k f
o
r
warn
ing
zon
e
fo
r en
ab
ling
th
e b
u
zzer is do
n
e
, in
case th
e ve
ssel
i
s
neari
n
g
m
a
ri
t
i
m
e
bou
n
d
ary
(i
.e
. 2
nau
t
i
cal
miles before maritm
e bounda
ry). Upon
pass
condition the
buzzer is ena
b
led and warni
ng
messages is updated
on
LC
D
vi
a
di
s
p
l
a
y
i
ndi
cat
ors
.
Step 10
: In
case th
e
warn
ing
zo
n
e
cond
itio
n fails, co
nd
ition
ch
eck fo
r
bou
nd
ary cro
s
so
ver is
d
o
n
e
, i
n
case th
e
vessel
i
s
ap
pr
o
achi
n
g m
a
ri
t
i
me bo
u
nda
ry
(i
.e
. 1 n
a
ut
i
cal
m
i
le bef
o
re m
a
ri
t
m
e bou
n
d
ary
)
.
Up
o
n
pas
s
co
n
d
i
t
i
on
the fuel injection is cut off
and
buz
zer is enable
d
al
so u
pdat
i
n
g t
h
e c
r
oss
ove
r n
o
t
i
f
i
c
at
i
on t
h
r
o
ug
h
LC
D
d
i
sp
lay in
d
i
cat
o
r
s. Up
on
failed
con
d
ition
th
e fu
el inj
ec
tio
n
i
s
en
ab
led
and
b
u
zzer is d
i
sabled
in
d
i
cating
v
e
ssel
is safe z
o
ne. T
h
e c
ont
rol
flo
w
retu
rn
s to
Step 3
and
th
e pro
c
ess iterates infin
itely.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
RES I
S
SN
:
208
8-8
7
0
8
D
e
sign
an
d D
e
velo
p
m
e
n
t
o
f
Lo
w Co
st
Na
viga
tio
n and
S
ecurity S
y
stem
f
o
r
I
n
d
i
an
…
(Sanket D
e
ssa
i
)
34
Fi
gu
re
5.
Fl
o
w
chart
fo
r
pr
oce
ssi
ng
l
o
gi
c pl
at
fo
rm
boar
d
-
2
The
pl
at
fo
rm
boa
r
d
-
2
i
s
i
n
t
e
rface
d t
o
LC
D a
nd
GSM
m
odem
.
The
al
go
ri
t
h
m
on
boa
r
d
-
2
i
s
devel
ope
d t
o
sam
p
l
e
i
ndi
cat
ors f
o
r pa
rt
i
c
ul
ar m
e
ssage st
ri
ng
s o
n
LC
D u
n
d
er
vari
ous
scena
r
i
o
s
(i
.e.
Aut
h
entication m
e
ssages,
Warni
n
g bee
p
m
e
ssages
,
S
O
S
status m
e
ssages, Manual
Override
m
e
ssages and
Fuel cut
off messages
)
. T
h
e
algorithm
also sam
p
les re
q
u
e
st fo
r en
ab
ling
tran
sm
issi
on of distress m
e
ssage to
base st
at
i
on by
shari
n
g t
h
e re
gi
st
rat
i
on
num
ber o
f
vessel
a
s
sho
w
n i
n
Fi
g
u
re 5
.
The dat
a
fl
ow i
s
depi
c
t
ed by
al
go
ri
t
h
m
gi
ven as
f
o
l
l
o
w
s
:
Step 1
:
In
itialisin
g th
e i
n
pu
t
p
i
n
s
fo
r LCD disp
lay d
a
ta ind
i
cato
r
s and
for
d
i
stress m
e
ssag
e
requ
est si
g
n
al.
Step 2
:
In
itialisin
g th
e LC
D,
d
e
fi
n
i
ng
its d
i
sp
lay fo
rm
at an
d
setting
th
e cursor.
Step 3
: GSM
is in
itialised
, settin
g
its wo
rk
ab
le b
a
u
d
rate. Th
en
con
d
ition
a
l log
i
c is ch
eck
ed
fo
r
GSM
in
itialisat
io
n
st
atu
s
.
Step 4
:
The f
u
nct
i
on l
c
d_
dec
ode
r(
) i
s
cal
l
e
d, whe
r
e t
h
e l
c
d
di
spl
a
y
dat
a
i
ndi
cat
o
r
s f
r
om
boa
rd
-1 a
r
e sa
m
p
l
e
d
and ba
sed on t
h
e
data recei
ve
d the
appropria
t
e value is
pa
ss
ed to lcd_dis
p
function.
Step 5
: Based
o
n
t
h
e v
a
l
u
e r
e
ceiv
e
d
f
r
o
m
lc
d
_
d
e
co
d
e
r
functio
n
th
e lcd_disp
()
fu
n
c
tion
ex
ecu
tes t
h
e p
a
rticu
l
ar
case and
also
disp
lays th
e m
e
ssag
e
st
ring
with
in
t
h
e case on LCD m
e
ssag
e
will d
i
sp
layed
o
n
th
e
LCD.
Step 6
:
No
w
i
n
fu
nct
i
o
n l
c
ddi
s
p
(
)
, a s
w
i
t
c
h-case c
o
ndi
t
i
on i
s
ve
ri
fi
ed
and
depe
n
d
i
n
g o
n
t
h
at
, di
ff
erent
messages will be displayed on LCD (i.e
. Enter Passcod
e, Aut
h
entication
Successfu
ll,
Wrong Passcode Please
reatte
m
p
t, Maxim
u
m
atte
m
p
ts reac
hed system
is bloc
ked, Warning
z
o
ne reache
d
,
Cross
e
d B
o
undary
fuel is
cut off, Ma
nua
l Ove
rri
de acti
v
ated a
n
d SOS detected distre
ss call m
a
de).
Step
7
:
The
gs
m
_
send(
) f
u
nct
i
on
rea
d
s t
h
e st
at
us
of
re
que
st
fo
r t
r
a
n
sm
i
ssi
on
of
di
st
re
ss m
e
ssage
(i
.e.
g
s
m
_
en
sig
n
a
l) wh
ich is an activ
e low sign
al.
Step 8
: If gsm
_
en
signal is enable
d, se
nd the distress m
e
ssa
ge wi
t
h
st
o
r
ed
regi
st
rat
i
o
n
nu
m
b
er of t
h
e
ve
ssel
t
o
th
e
p
r
e-
sp
eci
f
i
ed
b
a
se
statio
n nu
m
b
er
fo
llow
e
d b
y
acknow
ledg
em
en
t f
o
r
th
e sen
t
m
e
ss
ag
e and
r
e
tu
rns to
Step
4
an
d iterates i
n
fi
n
itely. If
g
s
m
_
en
sig
n
a
l is
d
i
sab
l
ed
th
e fl
o
w
d
i
rectly retu
rn
s t
o
Step
4
an
d iterates infin
itely.
3.1.
Syste
m
I
m
plementati
on
The al
g
o
ri
t
h
m
im
pl
em
ent
a
tion
was car
ri
ed
out
i
n
A
r
d
u
i
n
o 1.
0.
3 I
D
E u
s
i
ng C
l
a
ng
ua
ge an
d som
e
Ar
dui
n
o
s
p
eci
f
i
c con
s
t
r
u
c
t
s
f
o
r
de
pl
oy
m
e
nt
o
n
Ar
d
u
i
n
o
N
a
no
pl
at
f
o
rm
. Ar
dui
n
o
Nan
o
i
s
a
very
sm
al
l
and
p
o
rtab
le bo
ard as sh
own
i
n
Fig
u
re 6, bu
ilt arou
nd
ATm
e
g
a
328
, wh
ich
is an
8-b
it RISC arch
itectu
r
e
b
a
sed
micro
c
on
tro
ller.
Th
e GPS receiv
er u
s
ed
in
t
h
e na
vi
gat
i
o
n sy
st
em
i
s
sho
w
n
i
n
Fi
g
u
r
e
7.
Boar
d Specificati
ons
:
Op
erating
Vo
lt
ag
e
:
5
V
Inpu
t Vo
ltag
e
:
7
-
12
V
Dig
ital I/O Pins
:
1
4
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
SN
:
2
089
-48
64
I
J
RES Vo
l. 4
,
N
o
. 1
,
Mar
c
h
20
15
:
28
–
41
35
Anal
og
I
n
put
P
i
ns
:
8
Fl
ash M
e
m
o
ry
:
32
KB
(
A
Tm
ega3
2
8
)
o
f
whi
c
h
2KB
i
s
us
ed
by
b
o
o
t
l
o
ade
r
On EEPR
O
M
:
1KB
(ATm
ega328)
C
l
ock
Spee
d
:
16
M
H
z
Fi
gu
re 6.
A
r
d
u
i
no Na
no
b
o
a
r
d
Figure 7.
GPS receiver
The
GPS recei
ver
shown i
n
Figure
7 it consists of
GPS-634R i
n
tegrated sm
art GPS module
with a
ceram
inc patch a
n
tenna. T
h
e ante
nna
is c
o
nnected
vi
a a
LNA c
o
nnect
or. T
h
e
GPS
receiver is
capable
of
receiving si
gnals from
al
m
o
s
t
65
GPS satel
lites and the
GPS
data is
presented i
n
standa
rd
NMEA format in
t
e
rm
s of di
gi
t
a
l
packet
dat
a
v
i
a t
h
e UAR
T
po
rt
/
R
S2
32 se
r
i
al
port
.
T
h
e
d
e
faul
t
ba
u
d
rat
e
s su
pp
ort
e
d b
y
t
h
e
receiver are
4800 and
9600
(Defa
u
lt Val
u
e: 9600)
The
GPS recei
ver features i
n
clude:
Industry leadi
n
g TT
FF
spee
d
Tracki
n
g se
nsitivity
reaches -161
dBm
C
o
l
d
st
a
r
t
ap
pr
oxi
m
a
t
e
l
y
29 s
ec u
nde
r cl
ea
r
sky
Hot sta
r
t approxim
a
t
ely 1 sec
unde
r clear
sky
Accuracy 5m
CEP
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
RES I
S
SN
:
208
8-8
7
0
8
D
e
sign
an
d D
e
velo
p
m
e
n
t
o
f
Lo
w Co
st
Na
viga
tio
n and
S
ecurity S
y
stem
f
o
r
I
n
d
i
an
…
(Sanket D
e
ssa
i
)
36
Fi
gu
re 8.
4
x
4
M
a
t
r
i
x
Key
p
ad
The
keypa
d
us
ed in the c
u
rre
n
t system
is a
4x4 Ma
tr
i
x
K
e
yp
ad
as sh
ow
n in
Fi
g
u
r
e
8
.
Th
e
k
e
yp
ad
’s
pi
n
out
s i
n
cl
u
d
e
fo
ur
r
o
w
pi
ns (i
.e
. R
1
-R
4
)
an
d f
o
ur c
o
l
u
m
n
pi
ns (i
.e.
C
1
-C
4) al
l
o
w
i
ng
fo
r t
h
e st
a
nda
r
d
key
p
a
d
sca
n
ni
ng
m
echani
s
m
t
o
be use
d
fo
r det
ect
i
n
g
an
y
part
i
c
ul
a
r
bu
t
t
on pres
s. Th
e
key
s
wi
t
h
n
u
m
b
er
s
rang
ing
fro
m
0
to
9
are u
s
ed
fo
r
p
a
ssco
d
e
fun
c
tio
n
a
lity
. Wh
ile th
e
k
e
ys ‘E’ an
d
‘F’ are u
s
ed
fo
r
distress
messag
e
and
m
a
n
u
a
l
ov
errid
e
facility resp
ectiv
ely.
The
GSM
m
o
d
e
m
(SIM
90
0)
use
d
i
n
t
h
e sy
st
em
was
pri
m
ari
l
y
chose
n
bec
a
use
of
t
h
e l
i
br
ary
an
d
AP
I s
u
pp
o
r
t
from
Arduino.The
features a
n
d sp
eci
fi
cat
i
o
ns
of
t
h
e m
ode
m
i
n
cl
ude:
Q
u
ad-
B
and
G
S
M/G
P
RS 8
5
0
/
9
0
0
/
1
800
/
1900
MH
z
Bu
ilt in
RS232 lev
e
l conv
ert
o
r (M
A
X
23
2)
with
con
f
i
g
urab
le b
a
u
d
rate
Bu
ilt in
Net
w
ork Statu
s
LED
an
d Bu
ilt in
SIM Card ho
ld
er
No
rm
al
operat
i
on
t
e
m
p
erat
ure
ra
nge
:
-
2
0
ᵒ
C to
+55
ᵒ
C
Inpu
t
Vo
ltag
e
: 5
V
-12V DC
(
Open Electr
o
nics
)
AT co
mm
an
d
s
co
m
p
atib
ility
(GSM
07
.07
an
d SIMC
OM en
h
a
n
c
ed
AT C
o
mman
d
s
)
Lo
w
po
wer
co
nsum
pt
i
on:
1m
A (
s
l
eep m
ode
)
Fi
gu
re 9.
1
6
x
4
LC
D use
d
f
o
r di
spl
a
y
not
i
f
i
c
at
i
ons
The Fi
gu
re
9
sho
w
s
t
h
e LC
D
used
f
o
r
di
s
p
l
a
y
i
ng
n
o
t
i
f
i
cat
i
ons t
o
fi
s
h
e
r
m
e
n. The LC
D i
s
used
i
n
only write transaction
via 4-bit interf
ace from the
m
i
crocontroller board;
henc
e the L
S
B data pins (D0,
D1,
D2
an
d
D
3
)
ar
e g
r
o
u
nde
d.
Th
e features
of L
C
D incl
ude:
5x
8 d
o
t
s
wi
t
h
c
u
rs
or
16 cha
r
acters
*4 lines
dis
p
lay
4
-
b
it
or 8
-
b
it MPU
in
terfaces
Bu
ilt-in
con
t
roller (ST70
6
6
or eq
u
i
v
a
len
t
)
Disp
lay
Mod
e
an
d
Back
ligh
t
Variation
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
SN
:
2
089
-48
64
I
J
RES Vo
l. 4
,
N
o
. 1
,
Mar
c
h
20
15
:
28
–
41
37
Fig
u
r
e
10
. I
m
p
l
e
m
en
tatio
n
of
th
e
system
u
s
in
g
Ad
r
i
no
N
a
no
The Pi
n Interface diagram
f
o
r the c
u
rre
nt
syste
m
is sh
own in
Figure
10, de
picting the exac
t
connection
details between t
h
e peripherals (i.e.
4x
4 Matri
x
key
p
ad,
GPS r
eceiver,
GSM
m
odem
and 16x4
LCD)
with their res
p
ective
Ardui
no Na
no boa
rds. T
h
e
interface/c
ontrol signals flow bet
w
een the two
Ar
dui
n
o
N
a
n
o
boa
r
d
s i
s
al
s
o
r
e
prese
n
t
e
d
.
4.
R
E
SU
LTS AN
D ANA
LY
SIS
The
Fi
g
u
re
1
1
sho
w
s
t
h
e e
x
pe
ri
m
e
nt
al
geo p
o
i
n
t
s
use
d
fo
r t
e
st
i
ng t
h
e sy
st
e
m
.
Fig
u
re 11
. Geo-po
in
ts u
s
ed
for
system
test
in
g
Th
e lo
cation
s
aroun
d
‘REF’ tag
po
in
t represen
ts th
e safe
zo
n
e
, with
in
which
th
e v
e
ssel is allo
wed
to
n
a
v
i
g
a
t
e
and
fuel inject
ion is ena
b
led. The
area ar
o
u
nd t
h
e i
nne
r s
phe
re m
a
rked
by
N1
, S
1
, E
1
and
W1 t
a
g p
o
i
n
t
s
Evaluation Warning : The document was created with Spire.PDF for Python.