Method for identifying faulty measurement axes of a triaxial sensor fixed onto a moving object in a fixed reference frame, this method comprising: - the measurement by a triaxial censor C j fixed onto the moving object of a vector b mj giving the direction of a first field of a physical quantity at a measurement point in a moving reference frame fixed with no degree of freedom to the moving object, - the measurement by a triaxial censor C i fixed onto the same moving object of a vector b mi giving the direction of a second field of a physical quantity at the same measurement point in the same moving reference frame, the first and second fields being represented, at any point of a working space inside which the movements of the moving object are limited, by vectors, respectively r j and r i, giving the direction of the field at that point, these first and second fields being such that the scalar and vector products, in the fixed reference frame, of the normalized vectors r i and r j are known at any point of this working space, - the construction of a vector b ej corresponding to the estimation of the measurement of the sensor C j at the measurement point without using the b mj measurement, - the computation of the difference between the vectors b ej and b mj to obtain a residual values vector whose coordinates along each axis of the moving reference frame are a residual value corresponding to the difference between the coordinates of the vectors b ej and b mj on this axis of the moving reference frame, - the identification of the measurement axis or axes of the sensor C j exhibiting a fault as a function of the residual values computed on each of the axes of the moving reference frame, characterized in that the construction of the vector b ej is obtained from: - the scalar and vector products of the vectors r i and r j, and - of the measurement of the vector b mi, such that the direction of the vector b ej relative to the vector b mi is identical to the direction of the vector r j relative to the vector r i. - the measurement by a triaxial censor C j fixed onto the moving object of a vector b mj giving the direction of a first field of a physical quantity at a measurement point in a moving reference frame fixed with no degree of freedom to the moving object, - the measurement by a triaxial censor C i fixed onto the same moving object of a vector b mi giving the direction of a second field of a physical quantity at the same measurement point in the same moving reference frame, the first and second fields being represented, at any point of a working space inside which the movements of the moving object are limited, by vectors, respectively r j and r i, giving the direction of the field at that point, these first and second fields being such that the scalar and vector products, in the fixed reference frame, of the normalized vectors r i and r j are known at any point of this working space, - the construction of a vector b ej corresponding to the estimation of the measurement of the sensor C j at the measurement point without using the b mj measurement, - the computation of the difference between the vectors b ej and b mj to obtain a residual values vector whose coordinates along each axis of the moving reference frame are a residual value corresponding to the difference between the coordinates of the vectors b ej and b mj on this axis of the moving reference frame, - the identification of the measurement axis or axes of the sensor C j exhibiting a fault as a function of the residual values computed on each of the axes of the moving reference frame, characterized in that the construction of the vector b ej is obtained from: - the scalar and vector products of the vectors r i and r j, and - of the measurement of the vector b mi,