A mobile device is described for tracking an object and sensing an environment of the object. The mobile device includes a circuit board that is loaded with radio frequency (RF) transmitters and receivers for finding the device position and communicating data about the device, the ambient environment of the device, and/or the position of the device. Sensor on the device may measure data about the device and about the ambient environment of the device. Flexible antennas increases the effective volume for a plurality of antennas for increased range and/or reduced power. An adjustable impedance circuit provides for real-time tuning and impedance matching of the antennas.