To avoid Doppler ambiguity, pulse Doppler radar may operate on a high pulse repetition frequency (PRF). The use of a high PRF can, however, lead to range ambiguity in many cases. At present, the major efficient solution to solve range ambiguity is based on a waveform design scheme. It adds complexity to a radar system. However, the traditional multiple-PRF-based scheme is difficult to be applied in multiple targets because of unknown correspondence between the target range and measured range, especially using the Chinese remainder theorem (CRT) algorithm. We make a study of the CRT algorithm for multiple targets when the residue set contains noise error. In this paper, we present a symmetry polynomial aided CRT algorithm to effectively achieve range estimation of multiple targets when the measured ranges are overlapped with noise error. A closed-form and robust CRT algorithm for single target and the Aitken acceleration algorithm for finding roots of a polynomial equation are used to decrease the computational complexity of the proposed algorithm.