On Doppler tracking in cosmological spacetimes

We give a rigorous derivation of the general-relativistic formula for the two-way Doppler tracking of a spacecraft in Friedmann-Lemaitre-Robertson-Walker and in McVittie spacetimes. The leading order corrections of the so-determined acceleration to the Newtonian acceleration are due to special-relativistic effects and cosmological expansion. The latter, although linear in the Hubble constant, is negligible in typical applications within the Solar System.