Method for locating mobile utensils presented before a network of magnetometers having N triaxial magnetometers (M ij) mechanically connected to one another without any degree of freedom in order to preserve a known distance between each of the magnetometers, where N is an integer greater than or equal to five, each utensil having at least one magnetic object and one or more utensils being able to be moved directly manually by a human being while the other utensils remain immobile, said method involving: a) the measurement, by each of the magnetometers, of the amplitude of the magnetic field along each of its measurement axes, b) the estimation, on the basis of the measurements from the magnetometers, of the values of a plurality of variables by resolving a current system of equations connecting said variables to each measurement from a triaxial magnetometer of the network, said variables corresponding to the positions, orientations and amplitudes of the magnetic moments of the magnetic objects of the utensils to be located, a utensil being located as soon as the position and orientation of the magnetic moment of each magnetic object of said utensil have been estimated, - the iteration of steps a) and b) at successive instants in time in order to obtain the estimated values of each variable at said various successive instants, characterized in that the method involves: c) the detection of each immobile utensil on the basis of the positions and orientations of each magnetic object of said utensil that are obtained at the end of previous iterations of step b), and in response to the detection of an immobile utensil, the addition of said utensil and of the last position, orientation and amplitude of the magnetic moment of each of its magnetic objects to a list of immobile utensils, d) the establishment of the measurements from the magnetometers when they are exclusively in the presence of a reference magnetic field generated only by the magnetic objects of all the immobile utensils that are present in the list of immobile utensils, said reference magnetic field being calculated on the basis of the positions, orientations and amplitudes of the magnetic moments of the magnetic objects of the utensils recorded in the list of immobile utensils, and e) the calculation of the amplitude of a disturbance on the basis of the differences between the measurements performed in step a) and the measurements established in step d), and - if the amplitude of the disturbance crosses a predetermined threshold, step b) is executed, otherwise the execution of step b) is omitted and the method returns to step a) without having executed step b). a) the measurement, by each of the magnetometers, of the amplitude of the magnetic field along each of its measurement axes, b) the estimation, on the basis of the measurements from the magnetometers, of the values of a plurality of variables by resolving a current system of equations connecting said variables to each measurement from a triaxial magnetometer of the network, said variables corresponding to the positions, orientations and amplitudes of the magnetic moments of the magnetic objects of the utensils to be located, a utensil being located as soon as the position and orientation of the magnetic moment of each magnetic object of said utensil have been estimated, - the iteration of steps a) and b) at successive instants in time in order to obtain the estimated values of each variable at said various successive instants, - the iteration of steps a) and b) at successive instants in time in order to obtain the estimated values of each variable at said various successive instants, c) the detection of each immobile utensil on the basis of the positions and orientations of each magnetic object of said utensil that are obtained at the end of previous iterations of step b), and in response to the detection of an immobile utensil, the addition of said utensil and of the last position, orientation and amplitude of the magnetic moment of each of its magnetic objects to a list of immobile utensils, d) the establishment of the measurements from the magnetometers when they are exclusively in the presence of a reference magnetic field generated only by the magnetic objects of all the immobile utensils that are present in the list of immobile utensils, said reference magnetic field being calculated on the basis of the positions, orientations and amplitudes of the magnetic moments of the magnetic objects of the utensils recorded in the list of immobile utensils, and e) the calculation of the amplitude of a disturbance on the basis of the differences between the measurements performed in step a) and the measurements established in step d), and - if the amplitude of the disturbance crosses a predetermined threshold, step b) is executed, otherwise the execution of step b) is omitted and the method returns to step a) without having executed step b). - if the amplitude of the disturbance crosses a predetermined threshold, step b) is executed, otherwise the execution of step b) is omitted and the method returns to step a) without having executed step b).