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Abstract We use 20 years of continuous magnetic field measurements from the Ørsted, CHAMP and Swarm satellite missions, supplemented by calibrated platform magnetometer data from the CryoSat-2 satellite, to study time variations of the Earth’s core field at satellite altitude and at the core–mantle boundary (CMB). From the satellite data we derive composite time series of the core field secular variation (SV) with 4-month cadence, at 300 globally distributed Geomagnetic Virtual Observatories (GVO). A previous gap in the GVO series between 2010 and 2014 is successfully filled using CryoSat-2, and sub-decadal variations are identified during this period. Tests showed that similar sub-decadal SV patterns were obtained from the CryoSat-2 data regardless of whether IGRF-13 or CHAOS-6x9 was used in their calibration. Cryosat-2 radial field SV series at non-polar latitudes have a mean standard deviation level compared to smoothing spline fits of 3.5 nT/yr compared to 1.8 nT/yr for CHAMP and 0.9 nT/yr for Swarm. GVO radial SV series display regional fluctuations with 5–10 years duration and amplitudes reaching 20 nT/yr, most notably at low latitudes over Indonesia (2014), over South America and the South Atlantic (2007, 2011 and 2014), and over the central Pacific (2017). Applying the Subtractive Optimally Localized Averages (SOLA) method, we also map the radial SV at the CMB as a collection of locally averaged SV estimates. We demonstrate that using 2-year windows of CryoSat-2 data, it is possible to reliably estimate the SV and its time derivative, the secular acceleration (SA), at the CMB, with a spatial resolution, corresponding to spherical harmonic degree 10. Along the CMB geographic equator, we find strong SA features with amplitude $$\pm 2.5\mu \mathrm{T}/\mathrm{yr}^2$$ ± 2.5 μ T / yr 2 under Indonesia from 2011–2014, under central America from 2015 to 2019, and sequences of SA with alternating sign under the Atlantic during 2004–2019. We find that platform magnetometer data from CryoSat-2 make a valuable contribution to the emerging picture of sub-decadal core field variations. Using 1-year windows of data from the Swarm satellites, we show that it is possible to study SA changes at low latitudes on timescales down to 1 year, with spatial resolution corresponding to spherical harmonic degree 10. We find strong positive and negative SA features appearing side-by-side in the Pacific in 2017, and thereafter drift westward.

Abstract In December 2019, the 13th revision of the International Geomagnetic Reference Field (IGRF) was released by the International Association of Geomagnetism and Aeronomy (IAGA) Division V Working Group V-MOD. This revision comprises two new spherical harmonic main field models for epochs 2015.0 (DGRF-2015) and 2020.0 (IGRF-2020) and a model of the predicted secular variation for the interval 2020.0 to 2025.0 (SV-2020-2025). The models were produced from candidates submitted by fifteen international teams. These teams were led by the British Geological Survey (UK), China Earthquake Administration (China), Universidad Complutense de Madrid (Spain), University of Colorado Boulder (USA), Technical University of Denmark (Denmark), GFZ German Research Centre for Geosciences (Germany), Institut de physique du globe de Paris (France), Institut des Sciences de la Terre (France), Pushkov Institute of Terrestrial Magnetism, Ionosphere and Radio Wave Propagation (Russia), Kyoto University (Japan), University of Leeds (UK), Max Planck Institute for Solar System Research (Germany), NASA Goddard Space Flight Center (USA), University of Potsdam (Germany), and Université de Strasbourg (France). The candidate models were evaluated individually and compared to all other candidates as well to the mean, median and a robust Huber-weighted model of all candidates. These analyses were used to identify, for example, the variation between the Gauss coefficients or the geographical regions where the candidate models strongly differed. The majority of candidates were sufficiently close that the differences can be explained primarily by individual modeling methodologies and data selection strategies. None of the candidates were so different as to warrant their exclusion from the final IGRF-13. The IAGA V-MOD task force thus voted for two approaches: the median of the Gauss coefficients of the candidates for the DGRF-2015 and IGRF-2020 models and the robust Huber-weighted model for the predictive SV-2020-2025. In this paper, we document the evaluation of the candidate models and provide details of the approach used to derive the final IGRF-13 products. We also perform a retrospective analysis of the IGRF-12 SV candidates over their performance period (2015–2020). Our findings suggest that forecasting secular variation can benefit from combining physics-based core modeling with satellite observations.

Abstract In December 2019, the International Association of Geomagnetism and Aeronomy (IAGA) Division V Working Group (V-MOD) adopted the thirteenth generation of the International Geomagnetic Reference Field (IGRF). This IGRF updates the previous generation with a definitive main field model for epoch 2015.0, a main field model for epoch 2020.0, and a predictive linear secular variation for 2020.0 to 2025.0. This letter provides the equations defining the IGRF, the spherical harmonic coefficients for this thirteenth generation model, maps of magnetic declination, inclination and total field intensity for the epoch 2020.0, and maps of their predicted rate of change for the 2020.0 to 2025.0 time period.

Abstract We present geomagnetic main field and secular variation time series, at 300 equal-area distributed locations and at 490 km altitude, derived from magnetic field measurements collected by the three Swarm satellites. These Geomagnetic Virtual Observatory (GVO) series provide a convenient means to globally monitor and analyze long-term variations of the geomagnetic field from low-Earth orbit. The series are obtained by robust fits of local Cartesian potential field models to along-track and East–West sums and differences of Swarm satellite data collected within a radius of 700 km of the GVO locations during either 1-monthly or 4-monthly time windows. We describe two GVO data products: (1) ‘Observed Field’ GVO time series, where all observed sources contribute to the estimated values, without any data selection or correction, and (2) ‘Core Field’ GVO time series, where additional data selection is carried out, then de-noising schemes and epoch-by-epoch spherical harmonic analysis are applied to reduce contamination by magnetospheric and ionospheric signals. Secular variation series are provided as annual differences of the Core Field GVOs. We present examples of the resulting Swarm GVO series, assessing their quality through comparisons with ground observatories and geomagnetic field models. In benchmark comparisons with six high-quality mid-to-low latitude ground observatories we find the secular variation of the Core Field GVO field intensities, calculated using annual differences, agrees to an rms of 1.8 nT/yr and 1.2 nT/yr for the 1-monthly and 4-monthly versions, respectively. Regular sampling in space and time, and the availability of data error estimates, makes the GVO series well suited for users wishing to perform data assimilation studies of core dynamics, or to study long-period magnetospheric and ionospheric signals and their induced counterparts. The Swarm GVO time series will be regularly updated, approximately every four months, allowing ready access to the latest secular variation data from the Swarm satellites.

Abstract Models of the geomagnetic field rely on magnetic data of high spatial and temporal resolution to give an accurate picture of the Earth’s internal magnetic field and its time-dependence. The magnetic data from low-Earth orbit satellites of dedicated magnetic survey missions such as CHAMP and Swarm play a key role in the construction of such models. Unfortunately, there are no magnetic data available from such satellites after the end of the CHAMP mission in 2010 and before the launch of the Swarm mission in late 2013. This limits our ability to recover signals on timescales of 3 years and less during this gap period. The magnetic data from platform magnetometers carried by satellites for navigational purposes may help address this data gap provided that they are carefully calibrated. Earlier studies have demonstrated that platform magnetometer data can be calibrated using a fixed geomagnetic field model as reference. However, this approach can lead to biased calibration parameters. An alternative approach has been developed in the form of a co-estimation scheme which consists of simultaneously estimating both the calibration parameters and a model of the internal part of the geomagnetic field. Here, we go further and develop a scheme, based on the CHAOS field modeling framework, that involves co-estimation of both internal and external geomagnetic field models along with calibration parameters of platform magnetometer data. Using our implementation, we are able to derive a geomagnetic field model spanning 2008 to 2018 with satellite magnetic data from CHAMP, Swarm, secular variation data from ground observatories, and platform magnetometer data from CryoSat-2 and the GRACE satellite pair. Through a number of experiments, we explore correlations between the estimates of the geomagnetic field and the calibration parameters, and suggest how these may be avoided. We find evidence that platform magnetometer data provide additional information on the secular acceleration, especially in the Pacific during the gap between CHAMP and Swarm. This study adds to the evidence that it is beneficial to use platform magnetometer data in geomagnetic field modeling.

Abstract We present the CHAOS-7 model of the time-dependent near-Earth geomagnetic field between 1999 and 2020 based on magnetic field observations collected by the low-Earth orbit satellites Swarm, CryoSat-2, CHAMP, SAC-C and Ørsted, and on annual differences of monthly means of ground observatory measurements. The CHAOS-7 model consists of a time-dependent internal field up to spherical harmonic degree 20, a static internal field which merges to the LCS-1 lithospheric field model above degree 25, a model of the magnetospheric field and its induced counterpart, estimates of Euler angles describing the alignment of satellite vector magnetometers, and magnetometer calibration parameters for CryoSat-2. Only data from dark regions satisfying strict geomagnetic quiet-time criteria (including conditions on IMF $$B_z$$ B z and $$B_y$$ B y at all latitudes) were used in the field estimation. Model parameters were estimated using an iteratively reweighted regularized least-squares procedure; regularization of the time-dependent internal field was relaxed at high spherical harmonic degree compared with previous versions of the CHAOS model. We use CHAOS-7 to investigate recent changes in the geomagnetic field, studying the evolution of the South Atlantic weak field anomaly and rapid field changes in the Pacific region since 2014. At Earth’s surface a secondary minimum of the South Atlantic Anomaly is now evident to the south west of Africa. Green’s functions relating the core–mantle boundary radial field to the surface intensity show this feature is connected with the movement and evolution of a reversed flux feature under South Africa. The continuing growth in size and weakening of the main anomaly is linked to the westward motion and gathering of reversed flux under South America. In the Pacific region at Earth’s surface between 2015 and 2018 a sign change has occurred in the second time derivative (acceleration) of the radial component of the field. This acceleration change took the form of a localized, east–west oriented, dipole. It was clearly recorded on ground, for example at the magnetic observatory at Honolulu, and was seen in Swarm observations over an extended region in the central and western Pacific. Downward continuing to the core–mantle boundary, we find this event originated in field acceleration changes at low latitudes beneath the central and western Pacific in 2017.

Abstract We present the geomagnetic field model COV-OBS.x2 that covers the period 1840–2020. It is primarily constrained by observatory series, satellite data, plus older surveys. Over the past two decades, we consider annual differences of 4-monthly means at ground-based stations (since 1996), and virtual observatory series derived from magnetic data of the satellite missions CHAMP (over 2001–2010) and Swarm (since 2013). A priori information is needed to complement the constraints carried by geomagnetic records and solve the ill-posed geomagnetic inverse problem. We use for this purpose temporal cross-covariances associated with auto-regressive stochastic processes of order 2, whose parameters are chosen so as to mimic the temporal power spectral density observed in paleomagnetic and observatory series. We aim this way to obtain as far as possible realistic posterior model uncertainties. These can be used to infer for instance the core dynamics through data assimilation algorithms, or an envelope for short-term magnetic field forecasts. We show that because of the projection onto splines, one needs to inflate the formal model error variances at the most recent epochs, in order to account for unmodeled high frequency core field changes. As a by-product of the core field model, we co-estimate the external magnetospheric dipole evolution on periods longer than 2 years. It is efficiently summarized as the sum of a damped oscillator (of period 10.5 years and decay rate 55 years), plus a short-memory (6 years) damped random walk.

Abstract From the launch of the Ørsted satellite in 1999, through the CHAMP mission from 2000 to 2010, and now with the Swarm constellation mission starting in 2013, satellite magnetometry has provided excellent monitoring of the near-Earth magnetic field regime. The advanced Comprehensive Inversion scheme has been applied to data before Swarm and to the Swarm data itself, but now for the first time to all the satellite data in this new era, culminating in the CM6 model. The highlights of this model include not only a continuous core magnetic field description over the entire time period 1999 to 2019.5 in good agreement with the CHAOS model series, but the addition of two new oceanic tidal magnetic sources: the larger lunar elliptic semi-diurnal constituent $$N_2$$ N 2 and the lunar diurnal constituent $$O_1$$ O 1 . CM6 is also the parent model of the NASA/GSFC candidates for the DGRF2015 and IGRF2020 in response to the IGRF-13 call. This paper provides a full report on the development of CM6.

Abstract For the past 20 years, state of the art geomagnetic core field models have relied heavily on magnetic measurements made from space-based instrumentation. These models have revealed rapid global magnetic field variations on sub-decadal timescales originating in Earth’s core. With the end of the CHAMP mission in 2010 and the launch of Swarm in late 2013, there has been a 3-year gap in high-quality satellite measurements of the geomagnetic field. Geomagnetic field models have therefore relied on ground observatory data to fill in this gap period. However, ground observatories are unable to provide a truly global picture of the core field and its temporal changes. Many satellites in operation carry vector fluxgate “platform” magnetometers for attitude control, which can offer an alternative to relying on ground observatory measurements during the gap period. However, these instruments need to be carefully calibrated in order to provide meaningful information on Earth’s core field. Some previous studies attempted to calibrate such instruments with a priori geomagnetic field models. This approach has several disadvantages: (1) errors in the model will introduce errors in the calibration parameters, and (2) relying on an a priori model may not be feasible in the post-Swarm era. In this paper, we develop a novel approach to build a time-dependent geomagnetic field model from platform magnetometer data, by co-estimating their calibration parameters with the internal field parameters. This method does not require an a priori geomagnetic field model, but does require a dataset of previously calibrated data. We use CHAMP, Swarm, and ground observatory measurements to supply this dataset, and incorporate platform magnetic measurements from DMSP and Cryosat-2 during the gap years. We find that the calibration parameters of DMSP and Cryosat-2 can be reliably estimated, and these missions provide meaningful information on rapid core field variations during the gap period.

Abstract The European Space Agency’s three-satellite constellation Swarm, launched in November 2013, has provided unprecedented monitoring of Earth’s magnetic field via a unique set of gradiometric and multi-satellite measurements from low Earth orbit. In order to exploit these measurements, an advanced “comprehensive inversion” (CI) algorithm has been developed to optimally separate the various major magnetic field sources in the near-Earth regime. The CI algorithm is used to determine Swarm Level-2 (L2) magnetic field data products that include the core, lithospheric, ionospheric, magnetospheric, and associated induced sources. In addition, it has become apparent that the CI is capable of extracting the magnetic signal associated with the oceanic principal lunar semidiurnal tidal constituent $$M_2$$ M2 to such an extent that it has been added to the L2 data product line. This paper presents the parent model of the Swarm L2 CI products derived with measurements from the first 4 years of the Swarm mission and from ground observatories, denoted as “CIY4,” including the new product describing the magnetic signal of the $$M_2$$ M2 oceanic tide.