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I recently bought a GPS equipped Boost Mobile phone for $20 from Best Buy (normally $40), downloaded and installed MoloGoGo on it, and took it on a trip to Seattle and Vancouver with me. Boost phones have a 35cent/day data plan, so with that I had MoloGoGo upload our location every 10 minutes, the map was fairly accurate. The phone battery would last about 10-12 hours with the 10 minute upload rate, so I'm not sure how practical that would be for your purposes, unless you hooked it up to a DC power adapter.
On a per vehicle basis it seems you can just individually buy GPS online. (Googling "GPS tracking corporate vehicles" brought up links like this." If there's someone more experienced they could help you, but it seems you have the option to buy individual GPS (Which I don't know the quality of what's being sold) or check out a company in your area that seems to do more monitoring.
I also think Microsoft Streets (the newer version) comes with a little chip you can plant somewhere in a vehicle and monitor from a computer. I haven't really looked much into it, but I remember seeing it somewhere, so I'm fuzzy on the details.
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I believe the phone model was a Motorola i425
Often times towns will do it to snow plow trucks as well. So yes, it can be done.
http://www.mile.com/mobilemc/gps/mobilemc-gps-dispatch.aspx?refer=goo2&cmp=MC4&gclid=CI75w7v6xZQCFQVcswodjigolQ