The DORIS system (Doppler Orbitography and Radio positioning Integrated by Satellite) was developed in the early eighties by CNES and IGN (Institut Géographique National) teams with scientists from the GRGS (Groupe de Recherche en Géodésie Spatiale) and industry. Doris was first tested on the SPOT-2 satellite, launched on 22 January 1990. A Doris receiver was subsequently flown on the SPOT-3 (1993), SPOT-4 (1998) and SPOT-5 (2002) missions, assisting orbit determination, images location and unification of satellite time with ground time. Doris is also flying on the Pleiades satellites (2012).
Doris has also flown on a series of altimetry missions: the French-U.S TOPEX/Poseidon satellite then on Jason-1 (2001), Envisat (2002) and Jason-2 (2008), the Cryosat-2 ice mission (2010), the French-Chinese HY-2A oceanography mission (2011) and the French-Indian Saral/AltiKa mission (2013). Sentinel-3, Jason-3 and Swot also carry from the Doris system.
Over the years, the system has improvedcontinuously to better meet users' needs. Doris is now an international reference system like GPS, laser telemetry and very-long-baseline interferometry techniques (VLBI).