For the parameters estimation of synthetic aperture radar (SAR) raw data, the estimation of Doppler rate is robust with the advantage of high estimation precision and less dependence upon situations. Thus it is widely employed in the autofocus correction. Based on the estimation of Doppler rate, two different error extraction models for the range migration and phase are proposed, respectively. The three dimension (3-D) motion errors are removed by correcting the residual range cell migration and compensating the phase errors, respectively. Real SAR data test shows that the proposed method is feasible to generate high resolution SAR image with only low-accuracy navigation information.