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n max
n
0 P nm (
VTEC
(β,
s
) =
sin
β)(
a nm cos
(
ms
) +
b nm sin
(
ms
)) ,
(92)
n
=
0
m
=
where:
VTEC
(β,
s
)
vertical TEC in TECU,
P nm =
N nm P nm normalized Legendre function from degree n and order m ,
N nm normalizing function,
P nm classical Legendre function,
a nm and b nm unknown coefficients of the spherical harmonics expansion,
with the normalizing function written as:
(
n
m
) ! (
2 n
+
1
)(
2
δ 0 m )
N nm =
,
(93)
(
n
+
m
) !
where
δ 0 m denotes the Kronecker delta. The number of unknown coefficients of
spherical harmonics expansion Eq. 92 is given by:
2
= (
n max +
)
,
u
1
(94)
and the spatial resolution of a truncated spherical harmonics expansion is given by:
π
n max ,
2
π
m max ,
2
Δβ =
Δ
s
=
(95)
where
Δβ
is the resolution in latitude, and
Δ
s is the resolution in sun-fixed longitude and local time, respectively.
It is shown that the mean VTEC ( VTEC ) of the global TEC distribution expressed
by Eq. 92 is generally represented by the zero-degree spherical harmonics coefficient
C 00 (Schaer 1999 ):
+ 2
2
π
1
4
N 00 C 00 = C 00 .
VTEC
=
E v (β,
s
)
cos
β
d
β
ds
=
(96)
π
2
0
Parametrization and Estimation of VTEC
To estimate a global VTEC model, GNSS observations from a set of globally distrib-
uted GNSS stations are collected. The computation is carried out on a daily basis,
using observations with sampling rate of 30 s and elevation cut-off angle 10 .For
all of the observations the ionospheric observable is calculated using Eqs. 90 or 91 .
This observable forms the observation equation. The observation equations are then
 
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