Database
db={"sensorsDataHistoric":[{"_id":{"$oid":"612c64e990977526b71d508b"},"idSensor":{"$numberLong":"3"},"idDevice":{"$numberLong":"1586"}}],"devices":[{"_id":{"$numberLong":"1586"},"group":{"$id":{"$numberLong":"11"}}}]}
Query
db.sensorsDataHistoric.aggregate([{"$match":{"idSensor":3}},{"$lookup":{"from":"devices","localField":"idDevice","foreignField":"_id","as":"idDevice"}},{"$match":{"idDevice.group.$id":11}},{"$project":{"idSensor":1,"idDevice":1}}])