Purpose: To develop a self-navigated motion compensation strategy for 3D radial MRI that can compensate for continuous head motion by measuring rigid body motion parameters with high temporal resolution from the central k-space acquisition point (self-encoded FID navigator) in each radial spoke.Methods: A forward model was created from low-resolution calibration data to simulate the effect of relative motion between the coil sensitivity profiles and the underlying object on the self-encoded FID navigator signal. Trajectory deviations were included in the model as low spatial-order field variations. Three volunteers were imaged at 3 T using a modified 3D gradient-echo sequence acquired with a Kooshball trajectory while performing abrupt and continuous head motion. Rigid body-motion parameters were estimated from the central k-space signal of each spoke using a least-squares fitting algorithm. The accuracy of self-navigated motion parameters was assessed relative to an established external tracking system. Quantitative image quality metrics were computed for images with and without retrospective correction using external and self-navigated motion measurements.Results: Self-encoded FID navigators achieved mean absolute errors of 0.69 +/- 0.82 mm and 0.73 +/- 0.87(degrees) relative to external tracking for maximum motion amplitudes of 12 mm and 10(degrees). Retrospective correction of the 3D radial data resulted in substantially improved image quality for both abrupt and continuous motion paradigms, comparable to external tracking results.Conclusions: Accurate rigid body motion parameters can be rapidly obtained from self-encoded FID navigator signals in 3D radial MRI to continuously correct for head movements. This approach is suitable for robust neuroanatomical imaging in subjects that exhibit patterns of large and frequent motion.