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This study deals with a general procedure for efficient estimation of multiple parameters. The proposed technique is based on an original theorem named EXtended Invariance Principle (EXIP), which is established in the study. The resulting method allows obtaining in some non-linear cases an efficient estimation without iterative procedures. This new approach is applied to localize a target and estimate its speed in multistatic radar.doi:10.19026/rjaset.13.2932 fatcat:i3d3w2c7nbey5lkkhyzhrwjrxa