Vehicle security refers to securing the vehicle against potential thieves. Vehicle makers have been experimenting with various approaches in order to give improved security systems. The usage of GPS and GSM technology can provide security for the car. The security of a vehicle is ensured in this project by tracking its whereabouts. For the integration of the global positioning system, the EKF is widely utilised (GPS) When the system's non-linearity grows or the measurement co-variance is erroneous, the EKF’s performance deteriorates. An extended state observer is introduced for the first time to improve loosely coupled GPS navigation performance utilizing accurate measurement modeling. The RMS values of positional errors are reduced by 52.57 percent, 48.56 percent, and 34.16 percent in the north, east, and vertical directions, respectively.