First, the ATmega48V only has one UART. This is connected to the GPS module at 9600, 8N1. The connection to the GSM M-590 module is only 2400 bps, and slow enough for a bitbanged UART.

This paper presents a low-cost, low-power solution for real-time natural disaster or calamity location detection using the ESP32 CAM, a GPS module, and TinyML.

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In addition, the tracking performance of the proposed method outperforms that of traditional federated Kalman filter. An efficient robust adaptive federated strong tracking Kalman filter (RAFSTKF) ...