Abstract: The present invention relates to a method for estimating the movement of a walking pedestrian (1), the method being characterised in that it comprises the following steps: (a) Acquisition, by inertial-measurement means (20) rigidly connected to a lower limb (10) of said pedestrian (1) and positioned in such a way as to have substantially a movement of rotation with respect to a distal end (11) of said lower limb (10) at least when said distal end (11) of the lower limb (10) is in contact with the ground, of an acceleration and of an angular speed of said lower limb (10); (b) Estimation, by data-processing means (21, 31, 41), of a speed of said lower limb (10) according to said measured acceleration and said measured angular speed.