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We introduce a novel accurate technique to estimate the Doppler centroid (DC) in ScanSAR missions. The technique starts from the ambiguous DC measures in the subswaths and uses a method alternative to standard unwrapping to undo the jumps in estimates induced by modulo pulse repetition frequency (PRF) measures. The proposed alternative is less error prone than the usual unwrapping techniques. Doppler Ambiguity is then solved by implementing a maximum-likelihood estimate that exploits the different PRFs used in different subswaths. An azimuth pointing of the antenna that does not change with subswaths, or that changes in a known way, is assumed. However, if the PRF diversity is strong enough, unknown small changes in azimuth pointing are tolerated and accurately estimated. This estimator is much simpler and more efficient, than those in the literature. Results achieved with both RADARSAT 1 and ENVISAT ScanSAR data are reported.