Abstract: A system and method for RF autotracking multiple antennas (preferably located on a spacecraft) to compensate for disturbances experienced by the antennas. The system and method estimate high frequency errors associated with all of the antennas. The high frequency errors may be estimated using a currently selected antenna and a high-pass filter. The high frequency errors may be estimated using a sensor mounted on the spacecraft, such as a gyro or star tracker, or may be estimated using information, such as planned thruster firings, for example, from a spacecraft attitude control system. Alternatively, the high frequency information may be estimated using any combination of data from these sources. Low frequency errors are estimated using measurements from each selected antenna. The algorithm implemented in the present invention explicitly accounts for the frequency content of each disturbance source.