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Context. Closed-loop Doppler data obtained by deep space tracking networks(e.g., NASA's DSN and ESA's Estrack) are routinely used for navigation andscience applications. By "shadow tracking" the spacecraft signal, Earth-basedradio telescopes involved in Planetary Radio Interferometry and DopplerExperiment (PRIDE) can provide open-loop Doppler tracking data when thededicated deep space tracking facilities are operating in closed-loop modeonly. Aims. We explain in detail the data processing pipeline, discuss thecapabilities of the technique and its potential applications in planetaryscience. Methods. We provide the formulation of the observed and computedvalues of the Doppler data in PRIDE tracking of spacecraft, and demonstrate thequality of the results using as a test case an experiment with ESA's MarsExpress spacecraft. Results. We find that the Doppler residuals and thecorresponding noise budget of the open-loop Doppler detections obtained withthe PRIDE stations are comparable to the closed-loop Doppler detectionsobtained with the dedicated deep space tracking facilities.

astronomy and astrophysics

Planetary Radio Interferometry and Doppler Experiment (PRIDE) Technique:  a Test Case of the Mars Express Phobos Fly-by. 2. Doppler tracking:  Formulation of observed and computed values, and noise budget