Method for estimating motion of a multi-articulated object mass

The invention relates to a motion estimation method for a multi-articulated object mass, consisting of a plurality of segments connected by at least one hinge. The method comprises the following steps: acquiring (401) of the inertial measurements from at least one fixed capture module with respect to a segment, said module being composed of an accelerometer and a gyro, said measurements being expressed in a measuring mark fixed relative to said segment; determining (420) from said measurements of at least one external force vector with the object mass so as to control a physical model of the object, said model representing the object mass; estimation (409) of the kinematic variables (410) associated with the segments of the object by applying the fundamental principle of dynamics with the at least one force vector determined in the preceding step (420).