Method of simultaneous determination of spatial positions of mobile beacons in an area (1; 80) comprising fixed beacons, comprising: a step a) (20; 20A) comprising: - the emission by each of the fixed and mobile beacons of a first signal and the emission by each fixed beacon of a second signal; - the collection by each mobile beacon of values representative of the first signals emitted by the fixed beacons; - the collection by each mobile beacon of values representative of the second signals (60, 62), the second signals and the first signals being of different natures; and - the collection by each beacon of a value representative of a third signal of a nature different from the nature of the first signals and from the nature of the second signal; and a step b) (26; 26A, 26B) of determination of a sequence of sets of estimated positions of the mobile beacons, wherein: - each set of estimated positions is associated with an error value representative of the set of the differences, between the values collected at step a) and corresponding theoretical values (S T, R3 T) determined by a modeling based on said set of estimated positions; and - the error values associated with successive sets of estimated positions are decreasing, the sequence stopping when a convergence criterion has been reached. a step a) (20; 20A) comprising: - the emission by each of the fixed and mobile beacons of a first signal and the emission by each fixed beacon of a second signal; - the collection by each mobile beacon of values representative of the first signals emitted by the fixed beacons; - the collection by each mobile beacon of values representative of the second signals (60, 62), the second signals and the first signals being of different natures; and - the collection by each beacon of a value representative of a third signal of a nature different from the nature of the first signals and from the nature of the second signal; and - the emission by each of the fixed and mobile beacons of a first signal and the emission by each fixed beacon of a second signal; - the collection by each mobile beacon of values representative of the first signals emitted by the fixed beacons; - the collection by each mobile beacon of values representative of the second signals (60, 62), the second signals and the first signals being of different natures; and - the collection by each beacon of a value representative of a third signal of a nature different from the nature of the first signals and from the nature of the second signal; and a step b) (26; 26A, 26B) of determination of a sequence of sets of estimated positions of the mobile beacons, wherein: - each set of estimated positions is associated with an error value representative of the set of the differences, between the values collected at step a) and corresponding theoretical values (S T, R3 T) determined by a modeling based on said set of estimated positions; and - the error values associated with successive sets of estimated positions are decreasing, the sequence stopping when a convergence criterion has been reached. - each set of estimated positions is associated with an error value representative of the set of the differences, between the values collected at step a) and corresponding theoretical values (S T, R3 T) determined by a modeling based on said set of estimated positions; and - the error values associated with successive sets of estimated positions are decreasing, the sequence stopping when a convergence criterion has been reached.