There is a program called Sprite Terminator I recently heard about. It is $15 and runs in stealth mode. To get a gps from a phone it is pretty easy. You just send a text to the phone and get one in return with the lat and long along with a link that will display on google maps or google earth.
http://www.spritesoftware.com/store/...roducts_id=195
You just text:
The phone Sprite Terminator runs on does not see the text or see that they return a text. There are other commands like to lock/unlock the phone or retrieve the call logs.