A method of identifying the position of a set of K assembly points in an environment, K being a natural number greater than or equal to 2, the method comprising the steps of: a) providing a tool configured to cooperate with each assembly point of the set in a so-called cooperation position, the tool being equipped with a transmitter of a signal of Ultra Wide Band type; b) arranging at least one receiver (20, 21, 22, 23) in the environment to receive said signal for each of the K cooperation positions, the signal propagating in a propagation channel between the transmitter and the at least one receiver (20, 21, 22, 23), the receiver or each receiver (20, 21, 22, 23) being configured to deliver data (X 1, X 2, X 3, X 4) representative of the corresponding cooperation position, said data forming a random variable comprising all or part of the pulse response of the corresponding propagation channel, noted X; c) acquiring at least M times the data (X 1, X 2, X 3, X 4) delivered by the receiver or each receiver (20, 21, 22, 23) for each of the K cooperation positions, where M is a natural number greater than a predetermined value; d) calculating the expectation of X, noted E, for each of the K cooperation positions based on the M pieces of data acquired at step c) for each receiver (20, 21, 22, 23); e) arranging the tool in a cooperation position, called current position; f) acquiring at least one piece of data, called current data, delivered by the receiver or each receiver (20, 21, 22, 23) for the current position; g) applying an identification criterion comprising E based on the current data to identify the current position from among the K cooperation positions characterized in that the data X is vectorial: - the identification criterion applied at step g) is selected from the group comprising the scalar product and the vectorial product, between the current data and E when the pulse response has complex values, or - the identification criterion applied at step g) is the coefficient of intercorrelation between the current data and E when the pulse response has complex values, or in that. when the data (X 1, X 2, X 3, X 4) delivered at step b) is scalar and comprises information representative of the distance between the tool in the corresponding cooperation position and the at least one corresponding receiver (20, 21, 22, 23) in the environment, said information being extracted from the pulse response of the corresponding propagation channel, step d) comprises a step d1) of calculating the standard deviation of X, noted σ X, for each of the K cooperation positions based on the M pieces of data acquired at step c), and in that the identification criterion applied at step g) further comprises σ X. a) providing a tool configured to cooperate with each assembly point of the set in a so-called cooperation position, the tool being equipped with a transmitter of a signal of Ultra Wide Band type; b) arranging at least one receiver (20, 21, 22, 23) in the environment to receive said signal for each of the K cooperation positions, the signal propagating in a propagation channel between the transmitter and the at least one receiver (20, 21, 22, 23), the receiver or each receiver (20, 21, 22, 23) being configured to deliver data (X 1, X 2, X 3, X 4) representative of the corresponding cooperation position, said data forming a random variable comprising all or part of the pulse response of the corresponding propagation channel, noted X; c) acquiring at least M times the data (X 1, X 2, X 3, X 4) delivered by the receiver or each receiver (20, 21, 22, 23) for each of the K cooperation positions, where M is a natural number greater than a predetermined value; d) calculating the expectation of X, noted E, for each of the K cooperation positions based on the M pieces of data acquired at step c) for each receiver (20, 21, 22, 23); e) arranging the tool in a cooperation position, called current position; f) acquiring at least one piece of data, called current data, delivered by the receiver or each receiver (20, 21, 22, 23) for the current position; g) applying an identification criterion comprising E based on the current data to identify the current position from among the K cooperation positions characterized in that the data X is vectorial: - the identification criterion applied at step g) is selected from the group comprising the scalar product and the vectorial product, between the current data and E when the pulse response has complex values, or - the identification criterion applied at step g) is the coefficient of intercorrelation between the current data and E when the pulse response has complex values, or in that. - the identification criterion applied at step g) is selected from the group comprising the scalar product and the vectorial product, between the current data and E when the pulse response has complex values, or - the identification criterion applied at step g) is the coefficient of intercorrelation between the current data and E when the pulse response has complex values, or in that.