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The ability to make independent detections of the signatures of exoplanetswith complementary telescopes and instruments brings a new potential for robustidentification of exoplanets and precision characterization. We introduce PEXO,a package for Precise EXOplanetology to facilitate the efficient modeling oftiming, astrometry, and radial velocity data, which will benefit not onlyexoplanet science but also various astrophysical studies in general. PEXO isgeneral enough to account for binary motion and stellar reflex motions inducedby planetary companions and is precise enough to treat various relativisticeffects both in the solar system and in the target system. We also model thepost-Newtonian barycentric motion for future tests of general relativity inextrasolar systems. We benchmark PEXO with the pulsar timing package TEMPO2 andfind that PEXO produces numerically similar results with timing precision ofabout 1 ns, space-based astrometry to a precision of 1 $\mu$as, and radialvelocity of 1 $\mu$m/s and improves on TEMPO2 for decade-long timing data ofnearby targets, due to its consideration of third-order terms of Roemer delay.PEXO is able to avoid the bias introduced by decoupling the target system andthe solar system and to account for the atmospheric effects which set apractical limit for ground-based radial velocities close to 1 cm/s. Consideringthe various caveats in barycentric correction and ancillary data required torealize cm/s modeling, we recommend the preservation of original observationaldata. The PEXO modeling package is available at GitHub(https://github.com/phillippro/pexo).

PEXO: a global modeling framework for nanosecond timing, microsecond astrometry, and $\mu$m/s radial velocities