Patent ID: 8816896

Claim:
A computer implemented method for calculating three dimensional residual motion errors of a moving platform with respect to a point of interest, the method comprising: (a) receiving a radar signal from the point of interest; (b) forming a radar image including representation of the point of interest and a plurality of scatterers; (c) using a maximum likelihood estimation (MLE) method to obtain range, radial velocity and radial acceleration of the moving platform for a first peak scatterer with a brightest point in the radar image; (d) correcting a location of the first peak scatterer with respect to a scene center of the point of interest; (e) updating the obtained radial acceleration of the moving platform responsive to the corrected location of the first peak scatterer; (f) updating the obtained radial velocity of the moving platform responsive to the updated radial acceleration; (g) recursively repeating (d), (e), and (f) for a predetermined number of times for the first peak scatterer; and (h) repeating (c), (d), (e), (f), and (g) for a second and a third scatterers in the radar image to obtain the three dimensional residual motion errors of the moving platform.