The distance is quite easy for something so far out there. You send a command to the satellite, and see how long it takes to respond. The time it takes to respond times the speed of light is the distance that it is away from the Earth.
Furthermore, the velocity is likewise easy. If one day it is 17 light hours exactly, and the next day it is 17 hours and 10 seconds, you have a distance, and the amount of time between the two points. Divide one by the other, and you have the speed that the spacecraft is going.
Okay, if you are worried about those measurements being accurate, there's another frequently used method, the Doppler shift. The faster something is moving away from you, the lower it's frequency will appear to be. If the receiver is stable enough, this can be used to determine it's relative speed, which one can use to find the velocity.