Method for locating mobile magnetic objects presented before a network of magnetometers having N triaxial magnetometers (M ij) that are mechanically connected to one another without any degree of freedom in order to preserve a known distance between each of said magnetometers, where N is an integer greater than or equal to five, said method involving: a) the measurement, by each of the magnetometers, of the amplitude of the magnetic field along each of the measurement axes thereof, b) the estimation, on the basis of the measurements from the magnetometers, of the values of a plurality of variables by resolving a current system of equations connecting said variables to each measurement from a triaxial magnetometer of the network, each variable corresponding to the position or to the orientation or to the amplitude of a magnetic moment of a magnetic object, - the iteration of steps a) and b) at successive instants in time in order to obtain the estimated values of each variable at said various successive instants, characterized in that the method involves: c) the identification (168; 211), on the basis of the mobile objects presented before the network of magnetometers, of a supplementary equation connecting, by means of a relationship of equality, a first variable from the current system of equations to a term, said term being a predefined relationship between one or more other variables from the current system of equations or a constant numerical value, d) the replacement (180; 216), in the current system of equations, of said first variable with the term to which it is equal, identified in step c), in order to obtain a new system of equations in which the number of variables for which the value needs to be estimated is smaller than in the current system of equations, e) the use of the new system of equations instead of the current system of equations for the subsequent iterations of steps a) and b), the new system of equations thus becoming, for the subsequent iterations of steps a) and b), the current system of equations. a) the measurement, by each of the magnetometers, of the amplitude of the magnetic field along each of the measurement axes thereof, b) the estimation, on the basis of the measurements from the magnetometers, of the values of a plurality of variables by resolving a current system of equations connecting said variables to each measurement from a triaxial magnetometer of the network, each variable corresponding to the position or to the orientation or to the amplitude of a magnetic moment of a magnetic object, - the iteration of steps a) and b) at successive instants in time in order to obtain the estimated values of each variable at said various successive instants, - the iteration of steps a) and b) at successive instants in time in order to obtain the estimated values of each variable at said various successive instants, c) the identification (168; 211), on the basis of the mobile objects presented before the network of magnetometers, of a supplementary equation connecting, by means of a relationship of equality, a first variable from the current system of equations to a term, said term being a predefined relationship between one or more other variables from the current system of equations or a constant numerical value, d) the replacement (180; 216), in the current system of equations, of said first variable with the term to which it is equal, identified in step c), in order to obtain a new system of equations in which the number of variables for which the value needs to be estimated is smaller than in the current system of equations, e) the use of the new system of equations instead of the current system of equations for the subsequent iterations of steps a) and b), the new system of equations thus becoming, for the subsequent iterations of steps a) and b), the current system of equations.