Abstract: The present disclosure relates to a method for estimating the position of a magnet using a tracking device comprising an array of magnetometers, the method comprising phases of determining an initial state vector associated with the magnet, of measuring a useful magnetic field, of estimating a magnetic field, of calculating a bias between the measured magnetic field and the estimated magnetic field, and of updating the state vector on the basis of the bias. It also comprises an identifying phase comprising a step of identifying a magnetic disturbance on the basis of an indicator calculated depending on an estimated magnetic field and a measured magnetic field.