Until the 60's of the last century, classical analytical theories of planets were based entirely upon optical observations having an accuracy no better than 05. Detection of Venus radioechoes made in 1961 has opened the era of astrometrical radio observations, that has given two new types of measurements in astrometry: the time delay and the doppler-shift, has led to an increase of the accuracy of observations by the four orders, as well as, by large, to a revolution in astrometry and ephemeris astronomy. It was radar measurements of planets and spacecraft that made it possible to produce ephemerides of the inner planets with millisecond accuracy and to determine a wide range of astronomical constants from the Astronomical Unit to relativistic parameters. The VLBI measurements of spacecraft near the planets are used for both the improvement of ephemerides of these planets (Jupiter, in particular) and for the current orientation of the planet system to the International Celestial Reference Frame (ICRF) with accuracy 1 mas.