How about being able to plot your position within 5000km anywhere in the galaxy?
http://www.bbc.co.uk/news/science-environment-17557581
Assuming such a galactic gps system is standard by Imperial era CT, possibly with accuracy improvements thanks to TL advances, targeting a well charted planet is going to be trivial.
Ok - now, have the ship pointed in the right direction at hyper-velocities for when the impactor hits its target. As pointed out, the approximate range at which your sensors can point your ship in the CORRECT direction to within 1/360th of a degree of precision, will miss the Earth by 12,000+ km at roughly 18 AU's.
Keep in mind, that 18 AU's worth of travel is about .5% entire journey to reach both the target and impact at .8 C's. So by now, the velocity of the impactor is pretty close to .8C (not quite .8C but nearly there).
So, if the ship is pointed DIRECTLY at Earth at about 18 AU's, and the speed is somewhere in the vicinity of .8c - said ship has a little less than 3 hours to refine its targeting solution, point the ship directly at where the planet will be, and nail it.
Knowing where you are relative to the planet's orbit is fine. Knowing where you are relative to quasars is good as well. Aiming your ship at a given target at high speeds with precision that is better than 1 second of a degree, is perhaps problematical. Think about it. If Laser turrets can't manage that level of precision when firing at targets within 3 light seconds - why would you expect a ship moving at high velocity to do so? The ship has to manuever to adjust its targeting solution the closer it gets to its target. You want to add the complication of needing to dodge incoming defensive fire?
Ok, here's the deal.
Using a vector approach system from Traveller, the ship has a vector of .8C from a distance of 18 AU's. You know where the Planet will be at a given point. Now, use the ship's potential to change its velocity by 6G (or 58.8 meters per second in any given direction) Throw in a dodge versus an ship that is between the Home world, and its defenders with sand casters, missiles, repulsor bays (someone did mention basketball sized projectiles at some point). By now, the defensive targeting solution has firmed up to a near certainty of where that incoming impactor MUST travel through in order to hit the home world within 3 hours.
How much "dodging" around the "line of attack" can the impactor handle and still be able to hit its target at a given point in time? What is 58.8 meters per second relative to the built up velocity of nearly .8C? 6G's is so small relative to the line of attack that the impactor must take, that the defensive solution will be relatively simplified.
Now, can the defenders determine the speed of the impactor? Yes, it is called the Doppler shift in addition to the relatively predictable behavior of the impactor. Will the world have seen the incoming ship during its roughly 47 day journey towards the main world? That I can't say. Do I expect that ships have VERY precise manuevering control and sensors that are very VERY precise? Based on the "to hit" rules for lasers and on missiles - it would seem that a precision of 1/3600th of a degree for aiming purposes is just not the norm for the Traveller Universe. Were it so, then those lasers would have a far better chance of hitting their target at the relatively short range of three light seconds.