A capture device of the orientation of a solid comprising a sensor of angular position, capable of being affixed to the solid and supplying a measuring datum related to a real orientation of the solid, wherein the sensor is sensitive to gravity/magnetic field; calculation means for generating test data independent of any measuring datum and related to an estimated orientation of the solid; and means for modifying the estimated orientation by confrontation of the measuring datum and test data. A process including capturing a measuring datum related to a real orientation of the solid, the measuring datum originating from an angular position sensor sensitive to gravity/a magnetic field; establishing test data independent of any measuring datum and related to an estimated orientation of the solid; confronting the test data and the measuring datum; and establishing a new estimated orientation of the solid based on the result of the confrontation.