APRS is a very viable tracking option. It does require you to have at least an Amateur Radio Technician class license. A few hours of on-line study and a fairly simple written exam are all that's required.

You can use anything from a simple transmitter that ties to a GPS to a full hand held that would also allow voice communications. Most of the country is covered by APRS repeaters that would provide coverage on the ground. 1-2,000 AGL and you should be covered in almost all areas. Depending on the model, you can send and receive email and even make calls through a phone patch. Also, the signal is not blocked as easily as satellite.