A method for measuring the performance of a CFAR detection system of a sensor in observing an environment, the CFAR detection system being provided with an estimator suitable for determining an estimate of parameters related to noise affecting the sensor depending on parameters related to the environment, the measurement method including estimating noise-related parameters, obtaining detection thresholds for the CFAR detection system, characterizing estimation errors of the estimator of the CFAR detection system, determining each detection threshold likely to be actually used by the CFAR system due to estimation errors, and calculating the performance of the CFAR detection system on the basis of the detection thresholds determined.