A system determines parameters representing the orientation of a solid in movement within a first vector field and a second vector field. A first triaxial sensor and a second triaxial sensor are connected to the solid and measure the components of the respective vector fields along the axes of the sensors, obtaining corresponding first and second vectors. A processor determines the rotation matrix of the solid, using a correction module for delivering a first corrected vector, and calculating a third vector which is not coplanar to the plane formed by the first corrected vector and the second vector, such that the angles of the axis system formed by the third vector and the first corrected vector and the second vector remain constant.