Method for estimating a position ( r ( t n)) of a magnet, said magnet being moved relative to a magnetometer array comprising a plurality of magnetometers (10 i), each magnetometer being able to measure a magnetic field ( B i) generated by said magnet along at least one measurement axis ( x i, y i, z i), the method including the following steps: a) measuring, with each magnetometer, a reference magnetic field ( B i ( t ref), B i ( t ref,j)) at a reference time ( t ref, t ref,j); b) assigning a reference position ( r ref ( t ref), r ref ( t ref,j)) to the magnet at said reference time, the reference position being assigned to an arbitrary position or to an estimation of the position of the magnet at the reference time; c) measuring a magnetic field ( B i ( t n)) generated by said magnet with each magnetometer (10 i), at a measurement time ( t n) subsequent to the reference time; d) calculating a differential magnetic field ( Δ B i ( t n), Δ B i,j ( t n)) representing a difference, for each magnetometer (10 i), between the magnetic field ( B i ( t n)) measured in step c) and the reference magnetic field ( B i ( t ref), B i,j ( t ref,j)) measured in step a); e) on the basis of each differential magnetic field ( Δ B i ( t n), Δ B i,j ( t n)) and of an estimation of said reference position ( r ref ( t ref), r ref ( t ref,j), r ref ( t n- 1), r ref ( t n- 1,j)), estimating a position ( r ( t n)) of the magnet at the measurement time ( t n), the estimation being carried out by a recursive estimator, the reference position of the magnet being, in a first iteration, the position that was assigned to the magnet at the reference time; and f) reiterating steps c) to e) on the basis of the estimation obtained in step e), while incrementing the measurement time; the method being such that, in step e), said position ( r ( t n)) of the magnet is estimated on the basis: - of an estimation of the position of the magnet at a time ( t n- 1, t ref) preceding the measurement time ( t n); - of an estimation of the reference position, this estimation being carried out at a time ( t n -1, t ref) preceding the measurement time ( t n); step e) also comprising updating, at the measurement time ( t n), the estimation of the reference position ( r ref ( t n), r ref ( t n,j)). a) measuring, with each magnetometer, a reference magnetic field ( B i ( t ref), B i ( t ref,j)) at a reference time ( t ref, t ref,j); b) assigning a reference position ( r ref ( t ref), r ref ( t ref,j)) to the magnet at said reference time, the reference position being assigned to an arbitrary position or to an estimation of the position of the magnet at the reference time; c) measuring a magnetic field ( B i ( t n)) generated by said magnet with each magnetometer (10 i), at a measurement time ( t n) subsequent to the reference time; d) calculating a differential magnetic field ( Δ B i ( t n), Δ B i,j ( t n)) representing a difference, for each magnetometer (10 i), between the magnetic field ( B i ( t n)) measured in step c) and the reference magnetic field ( B i ( t ref), B i,j ( t ref,j)) measured in step a); e) on the basis of each differential magnetic field ( Δ B i ( t n), Δ B i,j ( t n)) and of an estimation of said reference position ( r ref ( t ref), r ref ( t ref,j), r ref ( t n- 1), r ref ( t n- 1,j)), estimating a position ( r ( t n)) of the magnet at the measurement time ( t n), the estimation being carried out by a recursive estimator, the reference position of the magnet being, in a first iteration, the position that was assigned to the magnet at the reference time; and f) reiterating steps c) to e) on the basis of the estimation obtained in step e), while incrementing the measurement time; - of an estimation of the position of the magnet at a time ( t n- 1, t ref) preceding the measurement time ( t n); - of an estimation of the reference position, this estimation being carried out at a time ( t n -1, t ref) preceding the measurement time ( t n);