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In view of moving features of city special vehicles, this paper proposed a way of building real-time mobile target monitoring system based on VHF wireless communication and TDMA multi-access technology. It designed the communication protocols of monitoring system referring the OSI module. A kind of special multi-serial port wireless communication controller is designed based on the 32-bit ARM microprocessor S3C44B0X and the embedded real-time operating system muC/OS-II. Finally, it designed a new wireless communication encryption algorithm named RRSE (real-time ring shift encipher) based on GPS.