Magnetic field compensation method, associated device and computer program

A compensation method for a magnetic field on board a vehicle including the steps carried out by computer and consisting of: for each measuring time T, i=1 to N with N>1, collecting the measured values of the 3D magnetic field Hmand those of the angles θand φ, where θis the pitch of the vehicle φis the roll of the vehicle; determining a matrix A and a vector B as a function at least of the collected magnetic field values Hmand angles θet φ, i=1 to N, the matrix A representing the soft iron and nonalignment disruptions and the vector B representing the hard iron disruptions; and the method comprising a step for estimating () the pair (A,B) minimizing the expression where V=[−sin(θ); sin(φ).cos(θ); cos(φ).cos(θ)].