A method of navigating a vehicle by means of a navigation algorithm arranged to determine spatial information (p(xr, yr, zr), v, a(θxr, θyr, θzr), PL) on the basis firstly of inertial measurements (Mi) coming from a signal processor circuit for processing the signals from an inertial measurement unit and secondly of pseudo-distance measurements (Mpd) determined in response to receiving signals from positioning satellites, the signal processor circuit having a calibration input adjustable on a self-calibration value (VCal) in order to reduce the influence of an error of the inertial measurement unit on the spatial information (p(xr, yr, zr), v, a(θxr, θyr, θzr), PL) supplied by the navigation algorithm, the navigation algorithm being characterized in that it implements at least one set of filters that are Kalman-Schmidt filters arranged to detect faulty measurements among the measurements that are transmitted to the set of filters and to prevent them from being used in determining the spatial information (p(xr, yr, zr), v, a(θxr, θyr, θzr), PL), and in that it comprises the steps of: · when a journey is completed: · transmitting the inertial measurements (Mi) and the pseudo-distance measurements (Mpd) to at least one hybrid navigation filter that is a Kalman filter that is set to supply at least one estimate of at least one error term affecting the inertial measurement unit and of covariance (Cov) associated with said estimate; · transmitting each estimate and the associated covariance (Cov) to a consolidation algorithm programmed to compare the covariance with a first covariance threshold and to store the estimate if the covariance (Cov) is less than the first covariance threshold; and · storing at least one parameter representative of a utilization condition of the aircraft; and · after the journey has been completed: · using the consolidation algorithm to verify that the utilization condition is nominal, and where appropriate, updating the self-calibration value (VCal) by means of the estimate of the error of the inertial measurement unit; and · calibrating the inertial measurement unit by using the updated self-calibration value (VCal). · when a journey is completed: · transmitting the inertial measurements (Mi) and the pseudo-distance measurements (Mpd) to at least one hybrid navigation filter that is a Kalman filter that is set to supply at least one estimate of at least one error term affecting the inertial measurement unit and of covariance (Cov) associated with said estimate; · transmitting each estimate and the associated covariance (Cov) to a consolidation algorithm programmed to compare the covariance with a first covariance threshold and to store the estimate if the covariance (Cov) is less than the first covariance threshold; and · storing at least one parameter representative of a utilization condition of the aircraft; and · transmitting the inertial measurements (Mi) and the pseudo-distance measurements (Mpd) to at least one hybrid navigation filter that is a Kalman filter that is set to supply at least one estimate of at least one error term affecting the inertial measurement unit and of covariance (Cov) associated with said estimate; · transmitting each estimate and the associated covariance (Cov) to a consolidation algorithm programmed to compare the covariance with a first covariance threshold and to store the estimate if the covariance (Cov) is less than the first covariance threshold; and · storing at least one parameter representative of a utilization condition of the aircraft; and · after the journey has been completed: · using the consolidation algorithm to verify that the utilization condition is nominal, and where appropriate, updating the self-calibration value (VCal) by means of the estimate of the error of the inertial measurement unit; and · calibrating the inertial measurement unit by using the updated self-calibration value (VCal). · using the consolidation algorithm to verify that the utilization condition is nominal, and where appropriate, updating the self-calibration value (VCal) by means of the estimate of the error of the inertial measurement unit; and · calibrating the inertial measurement unit by using the updated self-calibration value (VCal).