Abstract: An apparatus and method for estimating a location of an object within a mobile reference frame. Sensor data is received from an accelerometer associated with an object followed by determining from the sensor data that the mobile reference frame is executing one of a set of pre-determined maneuvers. In response to such determination: (1) the sensor data is applied to a mathematical model associated with the executed maneuver, the model trained with previously obtained data from one or more reference accelerometers positioned at known locations within the mobile reference frame and estimating the location of the object by applying the sensor data to the mathematical model; and/or (2) incorporating reference accelerometers in the mobile reference frame and comparing the sensor data with the reference accelerometers and estimating the location of the object.