A method and system for estimation of the current location of a remote radio beacon, at a mobile device, based on two historical positions thereof provided via at least two satellite relays and one base station, particularly usable for Search and Rescue. A beacon is configured to periodically transmit short RF signals, relayed by a first satellite payload to a base station, at which the position of the beacon is resolved; then, the base station transmits a message, relayed by a second satellite payload and detectable by a mobile device, encoding two previous positions of the beacon, stamped with time tags. Finally, the mobile device decodes the information about said two previous positions of the beacon, and accordingly estimates the current position of the beacon, accounting for possible different time references.