A method for estimating rotor torques (TQ mast1, TQ mast2) of an aircraft capable of hovering; said aircraft comprising: - a first rotor and a second rotor, which are operatively connected to each other and rotatable relative to respective rotational axes under the action of respective rotor torques (TQ mast1, TQ mast2); and - at least one first engine, which is operatively connected to said first rotor and second rotor and is adapted to provide said first and second rotors (31, 32) with an engine torque (TQ eng1, TQ eng2); said first and second rotors (31, 32) each comprising a hub and a plurality of blades articulated on said respective hub in such a way that respective first and second collective pitch angles (θ1 COLL, θ2 COLL) of said plurality of blades relative to the respective rotational axis are adjustable; said method comprising the steps of: i) calculating a symmetric component (TQ mastSYM) of said rotor torques (TQ mast1, TQ mast2) on the basis of said engine torque (TQ eng1, TQ eng2); said symmetric component (TQ mastSYM) being equal to said rotor torques (TQ mast1, TQ mast2), when said first and second collective pitch angles (θ1 COLL, θ2 COLL) are equal to each other; characterized in that it comprises the further steps of: ii) receiving a signal associated with said first and second collective pitch angles (θ1 COLL, θ2 COLL); iii) calculating an asymmetric component (TQ mastASYM) of said rotor torques (TQ mast1, TQ mast2) on the basis of at least a pitch angle difference (Δθ COLL) between said first and second collective pitch angles (θ1 COLL, θ2 COLL); and iv) calculating one of said rotor torques (TQ mast1, TQ mast2) as the sum of said symmetric component (TQ mastSYM) and said asymmetric component (TQ mastASYM) and calculating the other one of said rotor torques (TQ mast2, TQ mast1) as the difference between said symmetric component (TQ mastSYM) and said asymmetric component (TQ mastASYM). - a first rotor and a second rotor, which are operatively connected to each other and rotatable relative to respective rotational axes under the action of respective rotor torques (TQ mast1, TQ mast2); and - at least one first engine, which is operatively connected to said first rotor and second rotor and is adapted to provide said first and second rotors (31, 32) with an engine torque (TQ eng1, TQ eng2); said first and second rotors (31, 32) each comprising a hub and a plurality of blades articulated on said respective hub in such a way that respective first and second collective pitch angles (θ1 COLL, θ2 COLL) of said plurality of blades relative to the respective rotational axis are adjustable; said method comprising the steps of: i) calculating a symmetric component (TQ mastSYM) of said rotor torques (TQ mast1, TQ mast2) on the basis of said engine torque (TQ eng1, TQ eng2); said symmetric component (TQ mastSYM) being equal to said rotor torques (TQ mast1, TQ mast2), when said first and second collective pitch angles (θ1 COLL, θ2 COLL) are equal to each other; i) calculating a symmetric component (TQ mastSYM) of said rotor torques (TQ mast1, TQ mast2) on the basis of said engine torque (TQ eng1, TQ eng2); said symmetric component (TQ mastSYM) being equal to said rotor torques (TQ mast1, TQ mast2), when said first and second collective pitch angles (θ1 COLL, θ2 COLL) are equal to each other; characterized in that it comprises the further steps of: ii) receiving a signal associated with said first and second collective pitch angles (θ1 COLL, θ2 COLL); iii) calculating an asymmetric component (TQ mastASYM) of said rotor torques (TQ mast1, TQ mast2) on the basis of at least a pitch angle difference (Δθ COLL) between said first and second collective pitch angles (θ1 COLL, θ2 COLL); and iv) calculating one of said rotor torques (TQ mast1, TQ mast2) as the sum of said symmetric component (TQ mastSYM) and said asymmetric component (TQ mastASYM) and calculating the other one of said rotor torques (TQ mast2, TQ mast1) as the difference between said symmetric component (TQ mastSYM) and said asymmetric component (TQ mastASYM). ii) receiving a signal associated with said first and second collective pitch angles (θ1 COLL, θ2 COLL); iii) calculating an asymmetric component (TQ mastASYM) of said rotor torques (TQ mast1, TQ mast2) on the basis of at least a pitch angle difference (Δθ COLL) between said first and second collective pitch angles (θ1 COLL, θ2 COLL); and iv) calculating one of said rotor torques (TQ mast1, TQ mast2) as the sum of said symmetric component (TQ mastSYM) and said asymmetric component (TQ mastASYM) and calculating the other one of said rotor torques (TQ mast2, TQ mast1) as the difference between said symmetric component (TQ mastSYM) and said asymmetric component (TQ mastASYM).