The one in front of the cat is linked into the ecu and alters the fuelling based on it's readings. The one after the cat is there just to check the emissions, ie, it has no effect on the running of the engine.
If you have no symptoms it's likely the rear one, however, it could be anything so rather than blindly spending money get a diagnostics test done. I had tell tale misfiring and stuff but still got it checked just to be sure.
A member on here did a clip diagnostics really cheap for me, so
£20 for clip, plus £60 for sensor and £9 for a nice 22mm spanner. I already had ramps and stuff.
£89, don't wanna know what a dealer would have charged!