Currently, there is no way to hide this GPS tracking app icon on the iPhone screen. But there are ways to make it less noticeable. One way is to move the icon in a folder. Follow these steps:
1. Touch and hold the icon until all the icons begin to wiggle.
2. Drag the icon into a second icon.
3. The iPhone creates the folder and 2 icons inside.
4. Press the Home button to save the changes.
In additions, you can hide the app icon in the app switcher. If you force terminate the GPS tracking app (double click the home button and slide up the app), the GPS tracking app will automatically restart itself after the tracked device has a significant location change. For more details, see Will the GPS tracking app restart itself if it is terminated by a user?
When this happens, the GPS tracking app icon does not show up in the app switcher. This creates an illusion that this GPS tracking app is not running.
How do I enable stealth mode for my Android device?