A method for determining real-time location of a reflecting object in a system that includes RF units that include at least one transmitter and at least one receiver, the method comprising: (a) the transmitter transmitting signals towards the object and the receiver receiving signals reflected from the object thus giving rise to indirect signal transmitted via an indirect link between the transmitter and the receiver and measuring reflected indirect signals' time of arrivals; (b) calculating real-time internal delays of the RF units by providing initial direct signals' time of arrivals of the RF units characterizing a direct link between the transmitter and the receiver and providing initial internal delays of the RF units; transmitting a direct signal via the direct link between the transmitter and the receiver and measuring real-time direct signal's time of arrivals of the RF units; calculating changes in internal delays of the RF units based on the real-time direct signals' time of arrivals and initial direct signals' time of arrivals; calculating real-time internal delays of the RF units based on the changes in internal delays and the initial internal delays of the RF units; and (c) determining the real-time location of the object based on the reflected indirect signals' time of arrivals and the real-time internal delays of the RF units, wherein the indirect signal and the direct signal are constituted by different lobe components of a same signal transmitted between the transmitter and the receiver, where step (a) further includes configuring the RF units to operate in an indirect mode wherein the transmitter is configured to transmit the indirect signals that include substantial main lobe components and the receiver is configured to receive the indirect signals that include substantial main lobe components, and where step (b) further includes configuring the RF units to operate in a direct mode without switching from the indirect mode, wherein the transmitter is configured to the transmit direct signals and the receiver the configured to receive the direct signals. (a) the transmitter transmitting signals towards the object and the receiver receiving signals reflected from the object thus giving rise to indirect signal transmitted via an indirect link between the transmitter and the receiver and measuring reflected indirect signals' time of arrivals; (b) calculating real-time internal delays of the RF units by providing initial direct signals' time of arrivals of the RF units characterizing a direct link between the transmitter and the receiver and providing initial internal delays of the RF units; transmitting a direct signal via the direct link between the transmitter and the receiver and measuring real-time direct signal's time of arrivals of the RF units; calculating changes in internal delays of the RF units based on the real-time direct signals' time of arrivals and initial direct signals' time of arrivals; calculating real-time internal delays of the RF units based on the changes in internal delays and the initial internal delays of the RF units; and providing initial direct signals' time of arrivals of the RF units characterizing a direct link between the transmitter and the receiver and providing initial internal delays of the RF units; transmitting a direct signal via the direct link between the transmitter and the receiver and measuring real-time direct signal's time of arrivals of the RF units; calculating changes in internal delays of the RF units based on the real-time direct signals' time of arrivals and initial direct signals' time of arrivals; calculating real-time internal delays of the RF units based on the changes in internal delays and the initial internal delays of the RF units; and (c) determining the real-time location of the object based on the reflected indirect signals' time of arrivals and the real-time internal delays of the RF units, wherein the indirect signal and the direct signal are constituted by different lobe components of a same signal transmitted between the transmitter and the receiver, where step (a) further includes configuring the RF units to operate in an indirect mode wherein the transmitter is configured to transmit the indirect signals that include substantial main lobe components and the receiver is configured to receive the indirect signals that include substantial main lobe components, and where step (b) further includes configuring the RF units to operate in a direct mode without switching from the indirect mode, wherein the transmitter is configured to the transmit direct signals and the receiver the configured to receive the direct signals.