Radar images are first generated within the coordinate system of the flying platform (airplane, satellite, UAV, etc.). Within this coordinate system, the radar engineer knows exactly where each pixel came from when it was reflected from ground. These coordinates together with the exact GPS position of the flying platform and the knowledge of the exact antenna pointing (where the radar antenna was looking to) can then be used in order to map each pixel onto a geographical map at its correkt position. This mapping process is called "geocoding". The result is an image that can exactly overlay a GoogleEarth optical orthophoto for example.
There are just a few books on SAR on the market and I know no book that describes geocoding (I also asked a colleague), seems to be difficult ... But I googled some articles that may help you, maybe you could try these:
Schreier, G., D. Kosmann, and A. Roth. "Design aspects and implementation of a system for geocoding satellite SAR-images." ISPRS journal of Photogrammetry and Remote Sensing 45.1 (1990): 1-16.
Loew, Alexander, and Wolfram Mauser. "Generation of geometrically and radiometrically terrain corrected SAR image products." Remote Sensing of Environment 106.3 (2007): 337-349.
Zhang, Lu, Timo Balz, and Mingsheng Liao. "Satellite SAR geocoding with refined RPC model." ISPRS journal of photogrammetry and remote sensing 69 (2012): 37-49.