How was Voyager 2 used to determine the orbits of Uranus and Neptune?

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Voyager 2 played a crucial role in determining the semi-major axes of the orbits of Uranus and Neptune during its encounters with these planets. The spacecraft's precise measurements of gravitational influences and positional data were analyzed at NASA's Jet Propulsion Laboratory (JPL). These observations allowed scientists to refine the orbital parameters of both planets, enhancing our understanding of their dynamics. The data collected from Voyager 2 has been instrumental in improving models of the outer solar system. Accurate measurements of these orbits continue to inform current astronomical research.
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I am after a reference or an explanation as to how the Voyager 2 spacecraft was used to determine the semi major axis (largest diameter) of the orbits of both Uranus and Neptune?

These measurements were performed at Jet Propulsion Laboratory (JPL), NASA, during the Voyager 2 encounter with Uranus and Neptune.
 
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