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This paper published in 2010 contains additional material for the relativistic equations of motion of Section 6.6:
Relativistic models for the BepiColombo radioscience experiment, by A. Milani, G. Tommei, D. Vokrouhlicky and E. Latorre, S. Cicalo', in Relativity in Fundamental Astronomy: Dynamics, Reference Frames, and Data Analysis, IAU Symposium 261, Klioner, Seidelmann and Soffel eds., Cambridge University Press, pp. 356-365, 2010.