The present invention relates to a method for estimating the movement of an object (1) moving in an ambient magnetic field environment (∑), the method being characterised in that it comprises the steps of: (a) using inertial measuring means (24) connected to said object (1) to acquire at least one component of an angular velocity and/or acceleration of the object (1), called inertial data; using magnetic measuring means (20) connected to said object (1) to acquire at least one component of the magnetic field and/or one i-th derivative of the magnetic field, at the magnetic measuring means (20), called magnetic data; using optical means (26) connected to said object (1) to acquire consecutive images of the environment (Σ), called vision data; (b) using data processing means (21, 31, 41) to estimate at least one component of the movement of said object (1) using the inertial data, as well as the magnetic data and/or the vision data.
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