Abstract: A method for decoding an RF signal bearing a sequence of transmitted symbols modulated by CPM. The method includes, at the receiver: estimating model parameters {h, ?, ?0} among which h characterizes a modulation index, ? characterizes a carrier frequency offset and ?0 characterizes an initial phase offset, and detecting received symbols corresponding to said transmitted symbols of the sequence, wherein, at time nT where T is a symbol duration, the parameters {h, ?, ?0} are estimated by solving a system of three linear equations whose: three unknowns {?(n), {circumflex over (?)}(n), {circumflex over (?)}0(n)} are respectively function of said model parameters {h, ?, ?0}, and coefficients {B(n), C(n), D(n), F(n), G(n), H(n), v1(n), v2(n), v3(n)} are computed in a recursive way in function of: a sequence of symbols {ân} corresponding to the sequence of transmitted symbols up to time nT, and measured phases {?k} of samples {yk} of the RF signal received from time (n?1)T to time nT.