This paper presents a new range and Doppler centroid estimation algorithm for a ScanSAR system. Its accurate range and Doppler centroid estimates lead to refined radar pointing angles, which enables the ScanSAR imagery meeting its radiometric requirements. This algorithm attains an accuracy equal to the Cramer Rae's lower bound for both the homogeneous and quasi-homogeneous targets. This algorithm is also efficient in computation and easy for implementation.