Spherical harmonic models of the planetary magnetic field of Jupiter a
re obtained from in situ magnetic field measurements and remote observ
ations of the position of the foot of the Io flux tube in Jupiter's io
nosphere. The Io flux tube (IFT) footprint locates the ionospheric foo
tprint of field lines traced from Io's orbital radial distance in the
equator plane (5.9 Jovian radii). The IFT footprint is a valuable cons
traint on magnetic field models, providing ''ground truth'' informatio
n in a region close to the planet and thus far not sampled by spacecra
ft. The magnetic field is represented using a spherical harmonic expan
sion of degree and order 4 for the planetary (''internal'') field and
an explicit model of the magnetodisc for the field (''external'') due
to distributed currents. Models fitting Voyager 1 and Pioneer 11 magne
tometer observations and the IFT footprint are obtained by partial sol
ution of the underdetermined inverse problem using generalized inverse
techniques. Dipole, quadrupole, octupole, and a subset of higher-degr
ee and higher-order spherical harmonic coefficients are determined and
compared with earlier models.