Method for tracking in a Cartesian plane at least one device E with respect to a device P, given that at least one of the devices E or P is equipped with an inertial platform, and given that each of the devices E and P is equipped with a transmitter-receiver type communication module, said method comprising the following steps: (i) the devices E and P are initialized by the angular synchronization thereof with respect to the terrestrial magnetic north; (ii) at a time t n, the device E receives from the device P, or the device P receives from the device E an RSSI measurement, and the set of possible positions of the device C with respect to P in the metric space of the RSSI measurement is determined; (iii) at the time t n+1 the device P receives from the device E, or the device E receives from the device P, at least one item of information regarding the displacement of the device E and/or of the device P, namely at least the direction as well as the distance travelled for the interval [t n t n+1]; (iv) said distance is converted into the metric space of the RSSI measurement (referred to as "RSSI domain") and a set of positions is determined in the metric space of the RSSI measurement of the device E with respect to the device P by projection of the displacement of the device E or the device P onto the positions estimated in step (ii); (v) a new RSSI measurement is received at the time t n+1 and a set of positions of E with respect to P at the time t n+1 is determined; (vi) the relation is determined between the positions estimated in step (iv) and the (vii) position(s) determined of the device E at the time t n+1 which arise from step (v); (viii) the relation determined in step (v) is used to determine whether the new position(s) calculated in step (vi) are plausible, possible or likely with respect to the positions determined at the previous times, and then the position of the device E is determined with respect to the device P, given that - step (i) is required in the case where the device E is equipped with an inertial platform and moves during the execution of the method, and optional if the device E does not move during the execution of the method, and - the device P must be equipped with an inertial platform so that any displacement thereof can be taken into account during the execution of the method. (i) the devices E and P are initialized by the angular synchronization thereof with respect to the terrestrial magnetic north; (ii) at a time t n, the device E receives from the device P, or the device P receives from the device E an RSSI measurement, and the set of possible positions of the device C with respect to P in the metric space of the RSSI measurement is determined; (iii) at the time t n+1 the device P receives from the device E, or the device E receives from the device P, at least one item of information regarding the displacement of the device E and/or of the device P, namely at least the direction as well as the distance travelled for the interval [t n t n+1]; (iv) said distance is converted into the metric space of the RSSI measurement (referred to as "RSSI domain") and a set of positions is determined in the metric space of the RSSI measurement of the device E with respect to the device P by projection of the displacement of the device E or the device P onto the positions estimated in step (ii); (v) a new RSSI measurement is received at the time t n+1 and a set of positions of E with respect to P at the time t n+1 is determined; (vi) the relation is determined between the positions estimated in step (iv) and the (vii) position(s) determined of the device E at the time t n+1 which arise from step (v); (viii) the relation determined in step (v) is used to determine whether the new position(s) calculated in step (vi) are plausible, possible or likely with respect to the positions determined at the previous times, and then the position of the device E is determined with respect to the device P, - step (i) is required in the case where the device E is equipped with an inertial platform and moves during the execution of the method, and optional if the device E does not move during the execution of the method, and - the device P must be equipped with an inertial platform so that any displacement thereof can be taken into account during the execution of the method.