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Ionized by solar radiation, the ionosphere causes a phase rotation or time delay to trans-ionospheric radio waves. Reconstruction of ionospheric electron density profiles with global navigation satellite system (GNSS) observations has become an indispensable technique for various purposes ranging from space physics studies to radio applications. This paper conducts a comprehensive review on the development of voxel-based computerized ionospheric tomography (CIT) in the last 30 years. A brief introduction is given in chronological order starting from the first report of CIT with simulation to the newly proposed voxel-based algorithms for ionospheric event analysis. The statement of the tomographic geometry and voxel models are outlined with the ill-posed and ill-conditioned nature of CIT addressed. With the additional information from other instrumental observations or initial models supplemented to make the coefficient matrix less ill-conditioned, equation constructions are categorized into constraints, virtual data assimilation and multi-source observation fusion. Then, the paper classifies and assesses the voxel-based CIT algorithms of the algebraic method, statistical approach and artificial neural networks for equation solving or electron density estimation. The advantages and limitations of the algorithms are also pointed out. Moreover, the paper illustrates the representative height profiles and two-dimensional images of ionospheric electron densities from CIT. Ionospheric disturbances studied with CIT are presented. It also demonstrates how the CIT benefits ionospheric correction and ionospheric monitoring. Finally, some suggestions are provided for further research about voxel-based CIT.

A Review of Voxel-Based Computerized Ionospheric Tomography with GNSS Ground Receivers