The satellite‐only gravity field model GOCO01S is a combination solution based on 61 days of GOCE gravity gradient data, and 7 years of GRACE GPS and K‐band range rate data, resolved up to degree/order 224 of a harmonic series expansion. The combination was performed consistently by addition of full normal equations and stochastic modeling of GOCE and GRACE observations. The model has been validated against external global gravity models and regional GPS/leveling observations. While low to medium degrees are mainly determined by GRACE, significant contributions by the new measurement type of GOCE gradients can already be observed at degree 100. Beyond degree 150, GOCE becomes the dominant contributor. Correspondingly, with GOCO01S a global gravity field model with high performance for the complete spectral range up to degree/order 224 is now available. This new gravity model will be beneficial for many applications in geophysics, oceanography, and geodesy.

GOCO06s is the latest satellite-only global gravity field model computed by the GOCO (Gravity Observation Combination) project. It is based on over a billion observations acquired over 15 years from 19 satellites with different complementary observation principles. This combination of different measurement techniques is key in providing consistently high accuracy and best possible spatial resolution of the Earth's gravity field. The motivation for the new release was the availability of reprocessed observation data for the Gravity Recovery and Climate Experiment (GRACE) and Gravity field and steady-state Ocean Circulation Explorer (GOCE), updated background models, and substantial improvements in the processing chains of the individual contributions. Due to the long observation period, the model consists not only of a static gravity field, but comprises additionally modeled temporal variations. These are represented by time-variable spherical harmonic coefficients, using a deterministic model for a regularized trend and annual oscillation. The main focus within the GOCO combination process is on the proper handling of the stochastic behavior of the input data. Appropriate noise modeling for the observations used results in realistic accuracy information for the derived gravity field solution. This accuracy information, represented by the full variance–covariance matrix, is extremely useful for further combination with, for example, terrestrial gravity data and is published together with the solution. The primary model data consisting of potential coefficients representing Earth's static gravity field, together with secular and annual variations, are available on the International Centre for Global Earth Models (http://icgem.gfz-potsdam.de/, last access: 11 June 2020). This data set is identified with the following DOI: https://doi.org/10.5880/ICGEM.2019.002 (Kvas et al., 2019b). Supplementary material consisting of the full variance–covariance matrix of the static potential coefficients and estimated co-seismic mass changes is available at https://ifg.tugraz.at/GOCO (last access: 11 June 2020).

After more than 4.5 years in orbit, the Gravity field and steady‐state Ocean Circulation Explorer (GOCE) mission ended with the reentry of the satellite on 11 November 2013. This publication serves as a reference for the fifth gravity field model based on the time‐wise approach (EGM_TIM_RL05), a global model only determined from GOCE observations. Due to its independence of any other gravity data, a consistent and homogeneous set of spherical harmonic coefficients up to degree and order 280 (corresponding to spatial resolution of 71.5 km on ground) is provided including a full covariance matrix characterizing the uncertainties of the model. The associated covariance matrix realistically describes the model quality. It is the first model which is purely based on GOCE including all observations collected during the entire mission. The achieved mean global accuracy is 2.4 cm in terms of geoid heights and 0.7 mGal for gravity anomalies at a spatial resolution of 100 km.

After it was found that the gravity gradients observed by the Gravity field and steady-state Ocean Circulation Explorer (GOCE) satellite could be significantly improved by an advanced calibration, a reprocessing project for the entire mission data set was initiated by ESA and performed by the GOCE High-level processing facility (GOCE HPF). One part of the activity was delivering the gravity field solutions, where the improved level 1b and level 2 data serve as an input for global gravity field recovery. One well-established approach for the analysis of GOCE observations is the so-called time-wise approach. Basic characteristics of the GOCE time-wise solutions is that only GOCE observations are included to remain independent of any other gravity field observables and that emphasis is put on the stochastic modeling of the observations’ uncertainties. As a consequence, the time-wise solutions provide a GOCE-only model and a realistic uncertainty description of the model in terms of the full covariance matrix of the model coefficients. Within this contribution, we review the GOCE time-wise approach and discuss the impact of the improved data and modeling applied in the computation of the new GO_CONS_EGM_TIM_RL06 solution. The model reflects the Earth’s static gravity field as observed by the GOCE satellite during its operation. As nearly all global gravity field models, it is represented as a spherical harmonic expansion, with maximum degree 300. The characteristics of the model and the contributing data are presented, and the internal consistency is demonstrated. The updated solution nicely meets the official GOCE mission requirements with a global mean accuracy of about 2 cm in terms of geoid height and 0.6 mGal in terms of gravity anomalies at ESA’s target spatial resolution of 100 km. Compared to its RL05 predecessor, three kinds of improvements are shown, i.e., (1) the mean global accuracy increases by 10–25%, (2) a more realistic uncertainty description and (3) a local reduction of systematic errors in the order of centimeters.

GOCO06s is a satellite-only, global gravity field model up to degree and order 300, with secular and annual variations up to degree and order 120. It was produced by the GOCO Team (Technical University of Munich, University of Bonn, Graz University of Technology, Austrian Academy of Sciences, University of Bern) and is based on 1,160,000,000 observations from 19 satellites. The contributing satellite mission are: GOCE (TIM6 gradiometer observations), GRACE (ITSG-Grace2018s), kinematic orbits from Swarm A+B+C, TerraSAR-X, TanDEM-X, CHAMP, GRACE and GOCE, and SLR observations to LAGEOS, LAGEOS 2, Starlette, Stella, AJISAI, LARES, LARETS, Etalon 1/2 and BLITS. The combination of the individual data sources is performed on the basis of the full systems of normal equations, where the relative weighting between each constituent is determined by variance component estimation. In order to account for the polar gap of GOCE, the solution is Kaula-regularized after degree and order 150. The model is available via the ICGEM Service (Ince et al., 2019)