Method for real-time calibration of the magnetic field detected by at least one magnetic field sensor , the at least one magnetic field sensor being connected in an integral manner with at least an angular rotation sensor , the method comprising the following steps performed by an electronic processor locally or remotely connected to said at least one magnetic field sensor and said at least one angular rotation sensor: A. acquiring , along time, a vector signal of the magnetic field from said at least a magnetic field sensor, said magnetic field vector signal being expressed in a sensor reference system, and comprising a magnetic bias; B. acquiring a rotation vector signal from said at least an angular rotation sensor, along time; C. sampling said vector signal of magnetic field and said rotation signal obtaining respectively a sampled magnetic field vector signal, m(t)=[m x (t), m y (t), m z (t)] and a sampled rotation signal ω(t)=[ω x (t), ω y (t), ω z (t)] at time t; D. constructing the following orientation matrix: S ω t = 0 − ω z t ω y t ω z t 0 − ω x t − ω y t ω x t 0 the method being characterized in that the following additional steps are performed by said electronic processor: E. numerically solving the following algebraic equation: D b ^ t = Y where D = D 1 ⋮ D n and Y = Y 1 ⋮ Y n in which b̂ ( t ) is an estimate of the bias b and D q is a function of S ω (t) and Y q is a function of m(t) and S ω (t), b̂ ( t ) being independent of the time derivative of the magnetic field components of the three-dimensional vector m(t), on each respective time interval q =1 ... n defined for t e [( q - 1)]Δ T , q Δ T ], wherein n is a positive integer and ΔT a predefined time interval in which measurements by sensors of steps A and B are to be performed, or the sampling time of step C; and F. calculating a calibrated magnetic field m c (t) as m c (t) = m(t) - b̂ expressed in said sensor reference system. A. acquiring , along time, a vector signal of the magnetic field from said at least a magnetic field sensor, said magnetic field vector signal being expressed in a sensor reference system, and comprising a magnetic bias; B. acquiring a rotation vector signal from said at least an angular rotation sensor, along time; C. sampling said vector signal of magnetic field and said rotation signal obtaining respectively a sampled magnetic field vector signal, m(t)=[m x (t), m y (t), m z (t)] and a sampled rotation signal ω(t)=[ω x (t), ω y (t), ω z (t)] at time t; D. constructing the following orientation matrix: S ω t = 0 − ω z t ω y t ω z t 0 − ω x t − ω y t ω x t 0 the method being characterized in that the following additional steps are performed by said electronic processor: E. numerically solving the following algebraic equation: D b ^ t = Y where D = D 1 ⋮ D n and Y = Y 1 ⋮ Y n in which b̂ ( t ) is an estimate of the bias b and D q is a function of S ω (t) and Y q is a function of m(t) and S ω (t), b̂ ( t ) being independent of the time derivative of the magnetic field components of the three-dimensional vector m(t), on each respective time interval q =1 ... n defined for t e [( q - 1)]Δ T , q Δ T ], wherein n is a positive integer and ΔT a predefined time interval in which measurements by sensors of steps A and B are to be performed, or the sampling time of step C; and F. calculating a calibrated magnetic field m c (t) as m c (t) = m(t) - b̂ expressed in said sensor reference system. <EOS>