Fuente: Wipo "Sensorization" In one form, positioning, tracking and/or trajectory estimates of a first mobile object are determined in relation to a second mobile object, due to a better determination of positioning, tracking and/or trajectory of the second mobile object being available. Tracking of a first mobile object in relation to a second mobile object, enables improved analysis or visualisation of motions and trajectories of the first mobile object. An object can be an asset, an article, a robot, a vehicle, a person, an animal, any type of target, a mobile or cellular telephone, a passive object, a weapon, etc. A first/child mobile object is provided with a first sensor and a second/parent mobile object is provided with a second sensor. In another form, determining a location and a probability of an external event is based on an occurrence of one or more events and trajectories.