Method for estimating the movement of an object moving in an ambient magnetic field, the method being characterised in that it comprises steps of: (a) acquiring: ∘ by magnetic measurement means fixed with respect to said object , at least one component of the magnetic field and/or an i-th derivative of the magnetic field, at the magnetic measurement means ; ∘ by non-magnetic measurement means fixed with respect to said object , at least one item of information representative of the movement of the object ; (b) calculating, by data processing means , a parameter representative of the stationary or otherwise character of the magnetic field at the magnetic measurement means ; (c) estimating, by the data processing means , at least one component of the movement of said object using, ∘ at least one non-magnetic equation linking said component of the movement of said object and the at least one acquired item of information representative of the movement of the object ; ∘ according to the calculated value of the parameter representative of the stationary or otherwise character of the magnetic field at the magnetic measurement means , at least one magnetic equation linking said component of the movement of said object and the at least one acquired component of the magnetic field and/or an i-th derivative of the magnetic field. (a) acquiring: ∘ by magnetic measurement means fixed with respect to said object , at least one component of the magnetic field and/or an i-th derivative of the magnetic field, at the magnetic measurement means ; ∘ by non-magnetic measurement means fixed with respect to said object , at least one item of information representative of the movement of the object ; ∘ by magnetic measurement means fixed with respect to said object , at least one component of the magnetic field and/or an i-th derivative of the magnetic field, at the magnetic measurement means ; ∘ by non-magnetic measurement means fixed with respect to said object , at least one item of information representative of the movement of the object ; (b) calculating, by data processing means , a parameter representative of the stationary or otherwise character of the magnetic field at the magnetic measurement means ; (c) estimating, by the data processing means , at least one component of the movement of said object using, ∘ at least one non-magnetic equation linking said component of the movement of said object and the at least one acquired item of information representative of the movement of the object ; ∘ according to the calculated value of the parameter representative of the stationary or otherwise character of the magnetic field at the magnetic measurement means , at least one magnetic equation linking said component of the movement of said object and the at least one acquired component of the magnetic field and/or an i-th derivative of the magnetic field. ∘ at least one non-magnetic equation linking said component of the movement of said object and the at least one acquired item of information representative of the movement of the object ; ∘ according to the calculated value of the parameter representative of the stationary or otherwise character of the magnetic field at the magnetic measurement means , at least one magnetic equation linking said component of the movement of said object and the at least one acquired component of the magnetic field and/or an i-th derivative of the magnetic field. <EOS>