​Gateway will be the main master who will receive information from each of the sensor nodes involved in localizing the object. The sensor nodes will be communicating with the mobile target to determine the distance between them and will send this data to the gateway who will then use the trilateration algorithm to compute the location. There will also be an IMU on the mobile object that will help us determine the direction and speed of the object, which in turn will provide more information to localize the target