Spherical harmonic models of the planetary magnetic field of Jupiter are obtained from in situ magnetic field measurements and remote observations of the position of the foot of the Io flux tube in Jupiter's ionosphere. The Io flux tube (IFT) footprint locates the ionospheric footprint of field lines traced from Io's orbital radial distance in the equator plane (5.9 Jovian radii). The IFT footprint is a valuable constraint on magnetic field models, providing ground truth information in a region close to the planet and thus far not sampled by spacecraft. The magnetic field is represented using a spherical harmonic expansion 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 magnetometer observations and the IFT footprint are obtained by partial solution of the underdetermined inverse problem using generalized inverse techniques. Dipole, quadrupole, octupole, and a subset of higher-degree and higher-order spherical harmonic coefficients are determined and compared with earlier models. ¿ 1998 American Geophysical Union