More specifically, monitor the orbital period, T, and orbital radius, d, of a small moon or satellite, around a planet of mass, M, and use Kepler's 3rd Law:
M = (4pi^2/G)(d^3/T^2)
(Caveat: the orbital mass must be relatively negligible campared to the gravitating body).
It is universal, so you can also find the sun's mass using a planet's orbit.
Launch a satellite around Earth and use the same eqn. to get the Earth's mass. The ratio of orbital radius cubed to orbital period squared will be approx. constant for any satellite about earth.
If the orbit is eccentric, the same eqn. applies if you simply substitute the semi-major axis for radius d.
This is rather simplistic and there are other methods but this is enough to get you started.
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