The present invention relates to a method for calibrating a gyrometer (11) of an object (1) moving in an ambient magnetic field, the method being characterised in that it comprises the steps of:



(a) Acquisition by the gyrometer (11) of a measured angular velocity, and by magnetic measuring means (20) secured to said object (1) of at least two components of the magnetic field;
(b) Determination of values of at least one calibration parameter of the gyrometer (11) minimising a first expression defined by an estimated angular velocity of the object (1) and at least one first magnetic equation on the components of the magnetic field,

the estimated angular velocity being a function of the measured angular velocity and of calibration parameters, and
the at least one first magnetic equation assuming that the magnetic field is uniform and stationary.