Method for estimating the movement of an object moving in an ambient magnetic field, the method being characterised in that it comprises steps of: (a) acquiring: ∘ by magnetic measurement means fixed with respect to said object, at least one component of the magnetic field and/or an i-th derivative of the magnetic field, at the magnetic measurement means; ∘ by non-magnetic measurement means fixed with respect to said object, at least one item of information representative of the movement of the object; (b) calculating, by data processing means (21, 31, 41), a parameter representative of the stationary or otherwise character of the magnetic field at the magnetic measurement means; (c) estimating, by the data processing means (21, 31, 41), at least one component of the movement of said object using, ∘ at least one non-magnetic equation linking said component of the movement of said object and the at least one acquired item of information representative of the movement of the object; ∘ according to the calculated value of the parameter representative of the stationary or otherwise character of the magnetic field at the magnetic measurement means, at least one magnetic equation linking said component of the movement of said object and the at least one acquired component of the magnetic field and/or an i-th derivative of the magnetic field. (a) acquiring: ∘ by magnetic measurement means fixed with respect to said object, at least one component of the magnetic field and/or an i-th derivative of the magnetic field, at the magnetic measurement means; ∘ by non-magnetic measurement means fixed with respect to said object, at least one item of information representative of the movement of the object; ∘ by magnetic measurement means fixed with respect to said object, at least one component of the magnetic field and/or an i-th derivative of the magnetic field, at the magnetic measurement means; ∘ by non-magnetic measurement means fixed with respect to said object, at least one item of information representative of the movement of the object; (b) calculating, by data processing means (21, 31, 41), a parameter representative of the stationary or otherwise character of the magnetic field at the magnetic measurement means; (c) estimating, by the data processing means (21, 31, 41), at least one component of the movement of said object using, ∘ at least one non-magnetic equation linking said component of the movement of said object and the at least one acquired item of information representative of the movement of the object; ∘ according to the calculated value of the parameter representative of the stationary or otherwise character of the magnetic field at the magnetic measurement means, at least one magnetic equation linking said component of the movement of said object and the at least one acquired component of the magnetic field and/or an i-th derivative of the magnetic field. ∘ at least one non-magnetic equation linking said component of the movement of said object and the at least one acquired item of information representative of the movement of the object; ∘ according to the calculated value of the parameter representative of the stationary or otherwise character of the magnetic field at the magnetic measurement means, at least one magnetic equation linking said component of the movement of said object and the at least one acquired component of the magnetic field and/or an i-th derivative of the magnetic field.