A processor implemented method of associating a sensor sample with a timestamp, the method comprising: obtaining a sampling rate estimate for the sensor; determining an expected sample time based on the sampling rate estimate; detecting a sensor sample and assigning a reporting time to the detected sensor sample, the reporting time representing the time when the sensor sample is detected by the processor; being characterized in that it comprises: detecting a skipped sensor sample by: when the reporting time for the sensor sample indicates a later time than the expected sample time, quantifying the lateness of the sensor sample by determining the difference between the reporting time for the sensor sample and the expected sample time; determining whether the quantified lateness is greater than a first threshold, and if so (502 Yes): comparing the quantified lateness to a second threshold; when the quantified lateness is greater than the second threshold, determining that a sensor sample was skipped; and when the quantified lateness is less than the second threshold, determining whether at least a predetermined number of successive subsequent sensor samples are late and, if so, determining that a sensor sample was skipped; when a skipped sensor sample is detected, adjusting the expected sample time to account for the skipped sensor sample; and determining the timestamp for the sensor sample based on the adjusted expected sample time and the reporting time. obtaining a sampling rate estimate for the sensor; determining an expected sample time based on the sampling rate estimate; detecting a sensor sample and assigning a reporting time to the detected sensor sample, the reporting time representing the time when the sensor sample is detected by the processor; being characterized in that it comprises: detecting a skipped sensor sample by: when the reporting time for the sensor sample indicates a later time than the expected sample time, quantifying the lateness of the sensor sample by determining the difference between the reporting time for the sensor sample and the expected sample time; determining whether the quantified lateness is greater than a first threshold, and if so (502 Yes): comparing the quantified lateness to a second threshold; when the quantified lateness is greater than the second threshold, determining that a sensor sample was skipped; and when the quantified lateness is less than the second threshold, determining whether at least a predetermined number of successive subsequent sensor samples are late and, if so, determining that a sensor sample was skipped; when a skipped sensor sample is detected, adjusting the expected sample time to account for the skipped sensor sample; and determining the timestamp for the sensor sample based on the adjusted expected sample time and the reporting time. detecting a skipped sensor sample by: when the reporting time for the sensor sample indicates a later time than the expected sample time, quantifying the lateness of the sensor sample by determining the difference between the reporting time for the sensor sample and the expected sample time; determining whether the quantified lateness is greater than a first threshold, and if so (502 Yes): comparing the quantified lateness to a second threshold; when the quantified lateness is greater than the second threshold, determining that a sensor sample was skipped; and when the quantified lateness is less than the second threshold, determining whether at least a predetermined number of successive subsequent sensor samples are late and, if so, determining that a sensor sample was skipped; when the reporting time for the sensor sample indicates a later time than the expected sample time, quantifying the lateness of the sensor sample by determining the difference between the reporting time for the sensor sample and the expected sample time; determining whether the quantified lateness is greater than a first threshold, and if so (502 Yes): comparing the quantified lateness to a second threshold; when the quantified lateness is greater than the second threshold, determining that a sensor sample was skipped; and when the quantified lateness is less than the second threshold, determining whether at least a predetermined number of successive subsequent sensor samples are late and, if so, determining that a sensor sample was skipped; when the quantified lateness is greater than the second threshold, determining that a sensor sample was skipped; and when the quantified lateness is less than the second threshold, determining whether at least a predetermined number of successive subsequent sensor samples are late and, if so, determining that a sensor sample was skipped; when a skipped sensor sample is detected, adjusting the expected sample time to account for the skipped sensor sample; and determining the timestamp for the sensor sample based on the adjusted expected sample time and the reporting time.