Three independent tracking systems determined the position of the spacecraft. The first, the NASA laser retroreflector array (LRA) reflected laser beams from a network of 10 to 15 ground-based laser ranging stations under clear skies. The second, for all-weather, global tracking, was provided by the CNES Doppler Orbitography and Radiopositioning Integrated by Satellite tracking system receiver (DORIS). This device uses microwave doppler techniques (changes in radio frequency corresponding to relative velocity) to track the spacecraft. DORIS consists of an on-board receiver and a global network of 40 to 50 ground-based transmitting stations.