A method for estimating the orientation of an object comprising an attitude control system at an instant k, said method comprising: - a first step of using at least two sensors of the attitude control system, said sensors being fixed to the object, to carry out at least one measurement (y A, y M) of at least one value of at least one physical field that is substantially uniform in time and in space and measurements of the rotation speed (y G) of said object; - a second step (220, 230) of detecting the presence of disturbances in said at least one measurement of said at least one physical field; - and, if a disturbance in said at least one measurement (y A, y M) is detected at the output of said second step: ∘ a third step of estimating an orientation quaternion ( q kw) of said object by applying an integration of a corrected output of the measurement of the rotation speed of the object on the basis of a computed orientation quaternion of said object, at the instant k-1, at the output of a step of computing an orientation quaternion of the object; and ∘ a fourth step of computing an artificial measurement of said at least one value of the least one physical field based on said estimated orientation quaternion ( q kw) of said object at the output of the third step and a reference value of said at least one physical field; - the step of computing an orientation quaternion (q k) of said object in space using at least: ∘ said artificial measurement of said at least one value of the at least one physical field, if a disturbance in said at least one measurement (y A, y M) is detected at the output of said second step (220, 230); ∘ otherwise, said at least one measurement (y A, y M) of the at least one value of the at least one physical field. - a first step of using at least two sensors of the attitude control system, said sensors being fixed to the object, to carry out at least one measurement (y A, y M) of at least one value of at least one physical field that is substantially uniform in time and in space and measurements of the rotation speed (y G) of said object; - a second step (220, 230) of detecting the presence of disturbances in said at least one measurement of said at least one physical field; - and, if a disturbance in said at least one measurement (y A, y M) is detected at the output of said second step: ∘ a third step of estimating an orientation quaternion ( q kw) of said object by applying an integration of a corrected output of the measurement of the rotation speed of the object on the basis of a computed orientation quaternion of said object, at the instant k-1, at the output of a step of computing an orientation quaternion of the object; and ∘ a fourth step of computing an artificial measurement of said at least one value of the least one physical field based on said estimated orientation quaternion ( q kw) of said object at the output of the third step and a reference value of said at least one physical field; ∘ a third step of estimating an orientation quaternion ( q kw) of said object by applying an integration of a corrected output of the measurement of the rotation speed of the object on the basis of a computed orientation quaternion of said object, at the instant k-1, at the output of a step of computing an orientation quaternion of the object; and ∘ a fourth step of computing an artificial measurement of said at least one value of the least one physical field based on said estimated orientation quaternion ( q kw) of said object at the output of the third step and a reference value of said at least one physical field; - the step of computing an orientation quaternion (q k) of said object in space using at least: ∘ said artificial measurement of said at least one value of the at least one physical field, if a disturbance in said at least one measurement (y A, y M) is detected at the output of said second step (220, 230); ∘ otherwise, said at least one measurement (y A, y M) of the at least one value of the at least one physical field. ∘ said artificial measurement of said at least one value of the at least one physical field, if a disturbance in said at least one measurement (y A, y M) is detected at the output of said second step (220, 230); ∘ otherwise, said at least one measurement (y A, y M) of the at least one value of the at least one physical field.