赣江流域多种数据同化方案的径流模拟比较

为了探讨水文模型在不同水文数据同化方案下的径流模拟差异,本文采用集合卡尔曼滤波算法,以遥感蒸散发产品、实测径流为观测数据,构建了基于新安江模型的数据同化框架。基于此框架设计了4种不同同化方案(DA-ET、DAET(K)、DA-ET-Q、DA-ET-Q(K))以及1种对照方案OL,以赣江流域开展实例研究,评估了水文数据同化中遥感蒸散发产品的时间分辨率、模型蒸散发相关参数时变与否以及多源数据同化对径流模拟的影响。结果表明:在DA-ET方案下,同化两种不同时间分辨率的蒸散发产品均能提高模型整体的径流模拟精度,且时间分辨率更高的产品的同化效果更好;在DA-ET方案的基础上,考虑加入实测径流进行同化能够提升模型径流模拟精度,且DA-ET(K)与DA-ET-Q(K)方案所得径流相对误差的减幅均超过了20%,说明在蒸散发同化过程中同时考虑蒸散发参数动态变化的结果更优;相较于OL方案,4种同化方案均能不同程度地提高模型对径流高水部分的模拟能力,但DA-ET-Q(K)方案表现最差,而其余方案差异并不显著。本研究有助于进一步了解不同数据同化方案在径流模拟中的差异,从而为水资源高效利用与科学管理提供科学依据...     

A land surface data assimilation framework using the land information system: Description and applications

The Land Information System (LIS) is an established land surface modeling framework that integrates various community land surface models, ground measurements, satellite-based observations, high performance computing and data management tools. The use of advanced software engineering principles in LIS allows interoperability of individual system components and thus enables assessment and prediction of hydrologic conditions at various spatial and temporal scales. In this work, we describe a sequential data assimilation extension of LIS that incorporates multiple observational sources, land surface models and assimilation algorithms. These capabilities are demonstrated here in a suite of experiments that use the ensemble Kalman filter (EnKF) and assimilation through direct insertion. In a soil moisture experiment, we discuss the impact of differences in modeling approaches on assimilation performance. Provided careful choice of model error parameters, we find that two entirely different hydrological modeling approaches offer comparable assimilation results. In a snow assimilation experiment, we investigate the relative merits of assimilating different types of observations (snow cover area and snow water equivalent). The experiments show that data assimilation enhancements in LIS are uniquely suited to compare the assimilation of various data types into different land surface models within a single framework. The high performance infrastructure provides adequate support for efficient data assimilation integrations of high computational granularity.     

Real-time assimilation of streamflow observations into a hydrological routing model: effects of model structures and updating methods

This paper comparatively assesses the performance of five data assimilation techniques for three-parameter Muskingum routing with a spatially lumped or distributed model structure. The assimilation techniques used include direct insertion (DI), nudging scheme (NS), Kalman filter (KF), ensemble Kalman filter (EnKF) and asynchronous ensemble Kalman filter (AEnKF), which are applied to river reaches in Texas and Louisiana, USA. For both lumped and distributed routing, results from KF, EnKF and AEnKF are sensitive to the error specification. As expected, DI outperformed the other models in the case of lumped modelling, while in distributed routing, KF approaches, particularly AEnKF and EnKF, performed better than DI or nudging, reflecting the benefit of updating distributed states through error covariance modelling in KF approaches. The results of this work would be useful in setting up data assimilation systems that employ increasingly abundant real-time observations using distributed hydrological routing models.     

Investigating soil moisture sensitivity to precipitation and evapotranspiration errors using SiB2 model and ensemble Kalman filter

Accurate soil moisture information is useful in agricultural practice, weather forecasting, and various hydrological applications. Although land surface modeling provides a viable approach to simulating soil moisture, many factors such as errors in the precipitation can affect the accuracy of soil moisture simulations. This paper examined how precipitation rate and evapotranspiration rate affect the accuracy of soil moisture simulation using simple biosphere model with and without data assimilation through ensemble Kalman filter (EnKF). For each of the two variables, seven levels of relative errors (?20, ?10, ?5, 0, 5, 10 and 20 %) were introduced independently, thus a total of 49 combined cases were investigated. Observations from Wudaogou Hydrology Experimental site in the Huaihe River basin, China, were used to drive and verify the simulations. Results indicate that when the error of precipitation rate is within 10 % of the observations, the resulting error in soil moisture simulations is less significant and manageable, thus the simulated precipitation can be used to drive hydrological models in poorly gauged catchments when observations are not available. When the error of evapotranspiration rate is within 20 % of the observations, which is partly caused by model structural and parameterization errors, its impact on soil moisture simulation is less significant and can be acceptable. This study also demonstrated that the EnKF can perform consistently well to improve soil moisture simulation with less sensitivity to precipitation errors.     

Application of data assimilation with the Root Zone Water Quality Model for soil moisture profile estimation in the upper Cedar Creek,Indiana

Data assimilation techniques have been proven as an effective tool to improve model forecasts by combining information about observed variables in many areas. This article examines the potential of assimilating surface soil moisture observations into a field‐scale hydrological model, the Root Zone Water Quality Model, to improve soil moisture estimation. The Ensemble Kalman Filter (EnKF), a popular data assimilation technique for nonlinear systems, was applied and compared with a simple direct insertion method. In situ soil moisture data at four different depths (5, 20, 40, and 60 cm) from two agricultural fields (AS1 and AS2) in northeastern Indiana were used for assimilation and validation purposes. Through daily update, the EnKF improved soil moisture estimation compared with the direct insertion method and model results without assimilation, having more distinct improvement at the 5 and 20 cm depths than for deeper layers (40 and 60 cm). Local vertical soil property heterogeneity in AS1 deteriorated soil moisture estimates with the EnKF. Removal of systematic bias in the forecast model was found to be critical for more successful soil moisture data assimilation studies. This study also demonstrates that a more frequent update generally contributes in enhancing the open loop simulation; however, large forecasting error can prevent more frequent update from providing better results. In addition, results indicate that various ensemble sizes make little difference in the assimilation results. An ensemble of 100 members produced results that were comparable with results obtained from larger ensembles. Copyright © 2011 John Wiley & Sons, Ltd.     

Data assimilation methods for estimating a heterogeneous conductivity field by assimilating transient solute transport data via ensemble Kalman filter

An ensemble Kalman filter (EnKF) is developed to identify a hydraulic conductivity distribution in a heterogeneous medium by assimilating solute concentration measurements of solute transport in the field with a steady‐state flow. A synthetic case with the mixed Neumann/Dirichlet boundary conditions is designed to investigate the capacity of the data assimilation methods to identify a conductivity distribution. The developed method is demonstrated in 2‐D transient solute transport with two different initial instant solute injection areas. The influences of the observation error and model error on the updated results are considered in this study. The study results indicate that the EnKF method will significantly improve the estimation of the hydraulic conductivity field by assimilating solute concentration measurements. The larger area of the initial distribution and the more observed data obtained, the better the calculation results. When the standard deviation of the observation error varies from 1% to 30% of the solute concentration measurements, the simulated results by the data assimilation method do not change much, which indicates that assimilation results are not very sensitive to the standard deviation of the observation error in this study. When the inflation factor is more than 1.0 to enlarge the model error by increasing the forecast error covariance matrix, the updated results of the hydraulic conductivity by the data assimilation method are not good at all. Copyright © 2012 John Wiley & Sons, Ltd.     

Improving hydrologic predictions of a catchment model via assimilation of surface soil moisture

This paper examines the potential for improving Soil and Water Assessment Tool (SWAT) hydrologic predictions of root-zone soil moisture, evapotranspiration, and stream flow within the 341 km² Cobb Creek Watershed in southwestern Oklahoma through the assimilation of surface soil moisture observations using an Ensemble Kalman filter (EnKF). In a series of synthetic twin experiments assimilating surface soil moisture is shown to effectively update SWAT upper-layer soil moisture predictions and provide moderate improvement to lower layer soil moisture and evapotranspiration estimates. However, insufficient SWAT-predicted vertical coupling results in limited updating of deep soil moisture, regardless of the SWAT parameterization chosen for root-water extraction. Likewise, a real data assimilation experiment using ground-based soil moisture observations has only limited success in updating upper-layer soil moisture and is generally unsuccessful in enhancing SWAT stream flow predictions. Comparisons against ground-based observations suggest that SWAT significantly under-predicts the magnitude of vertical soil water coupling at the site, and this lack of coupling impedes the ability of the EnKF to effectively update deep soil moisture, groundwater flow and surface runoff. The failed attempt to improve stream flow prediction is also attributed to the inability of the EnKF to correct for existing biases in SWAT-predicted stream flow components.     

State estimation of tidal hydrodynamics using ensemble Kalman filter

This paper presents a coupling of an ensemble Kalman filter (EnKF) with a discontinuous Galerkin-based, two-dimensional circulation model (DG ADCIRC-2DDI) to improve the state estimation of tidal hydrodynamics including water surface elevations and depth-integrated velocities. The methodology in this paper using EnKF perturbs the modeled hydrodynamics and bottom friction parameterization in the model while assimilating data with inherent error, and demonstrates a capability to apply EnKF within DG ADCIRC-2DDI for data assimilation. Parallel code development presents a unique aspect of the approach taken and is briefly described in the paper, followed by an application to a real estuarine system, the lower St. Johns River in north Florida, for the state estimation of tidal hydrodynamics. To test the value of gauge observations for improving state estimation, a tide modeling case study is performed for the lower St. Johns River successively using one of the four available tide gauging stations in model-data comparison. The results are improved simulations of water surface elevations and depth-integrated velocities using DG ADCIRC-2DDI with EnKF, both locally where data are available and non-locally where data are not available. The methodology, in general, is extensible to other modeling and data applications, for example, the use of remote sensing data, and specifically, can be readily applied as is to study other tidal systems.     

Using data assimilation method to calibrate a heterogeneous conductivity field conditioning on transient flow test data

A data assimilation method is developed to calibrate a heterogeneous hydraulic conductivity field conditioning on transient pumping test data. The ensemble Kalman filter (EnKF) approach is used to update model parameters such as hydraulic conductivity and model variables such as hydraulic head using available data. A synthetical two-dimensional flow case is used to assess the capability of the EnKF method to calibrate a heterogeneous conductivity field by assimilating transient flow data from observation wells under different hydraulic boundary conditions. The study results indicate that the EnKF method will significantly improve the estimation of the hydraulic conductivity field by assimilating continuous hydraulic head measurements and the hydraulic boundary condition will significantly affect the simulation results. For our cases, after a few data assimilation steps, the assimilated conductivity field with four Neumann boundaries matches the real field well while the assimilated conductivity field with mixed Dirichlet and Neumann boundaries does not. We found in our cases that the ensemble size should be 300 or larger for the numerical simulation. The number and the locations of the observation wells will significantly affect the hydraulic conductivity field calibration.     

Modelling the water balance of a mesoscale catchment basin using remotely sensed land cover data

Hydrological modelling of mesoscale catchments is often adversely affected by a lack of adequate information about specific site conditions. In particular, digital land cover data are available from data sets which were acquired on a European or a national scale. These data sets do not only exhibit a restricted spatial resolution but also a differentiation of crops and impervious areas which is not appropriate to the needs of mesoscale hydrological models. In this paper, the impact of remote sensing data on the reliability of a water balance model is investigated and compared to model results determined on the basis of CORINE (Coordination of Information on the Environment) Land Cover as a reference. The aim is to quantify the improved model performance achieved by an enhanced land cover representation and corresponding model modifications. Making use of medium resolution satellite imagery from SPOT, LANDSAT ETM+ and ASTER, detailed information on land cover, especially agricultural crops and impervious surfaces, was extracted over a 5-year period (2000–2004). Crop-specific evapotranspiration coefficients were derived by using remote sensing data to replace grass reference evapotranspiration necessitated by the use of CORINE land cover for rural areas. For regions classified as settlement or industrial areas, degrees of imperviousness were derived. The data were incorporated into the hydrological model GROWA (large-scale water balance model), which uses an empirical approach combining distributed meteorological data with distributed site parameters to calculate the annual runoff components. Using satellite imagery in combination with runoff data from gauging stations for the years 2000–2004, the actual evapotranspiration calculation in GROWA was methodologically extended by including empirical crop coefficients for actual evapotranspiration calculations. While GROWA originally treated agricultural areas as homogeneous, now a consideration and differentiation of the main crops is possible. The accuracy was determined by runoff measurements from gauging stations. Differences in water balances resulting from the use of remote sensing data as opposed to CORINE were analysed in this study using a representative subcatchment. Resulting Nash–Sutcliff model efficiencies improved from 0.372 to 0.775 and indicate that the enhanced model can produce thematically more accurate and spatially more detailed local water balances. However, the proposed model enhancements by satellite imagery have not exhausted the full potential of water balance modelling, for which a higher temporal resolution is required.     

Assimilating transient groundwater flow data via a localized ensemble Kalman filter to calibrate a heterogeneous conductivity field

A localized ensemble Kalman filter (EnKF) method is developed to assimilate transient flow data to calibrate a heterogeneous conductivity field. To update conductivity value at a point in a study domain, instead of assimilating all the measurements in the study domain, only limited measurement data in an area around the point are used for the conductivity updating in the localized EnKF method. The localized EnKF is proposed to solve the problems of the filter divergence usually existing in a data assimilation method without localization. The developed method is applied, in a synthetical two dimensional case, to calibrate a heterogeneous conductivity field by assimilating transient hydraulic head data. The simulations by the data assimilation with and without localized EnKF are compared. The study results indicate that the hydraulic conductivity field can be updated efficiently by the localized EnKF, while it cannot be by the EnKF. The covariance inflation and localization are found to solve the problem of the filter divergence efficiently. In comparison with the EnKF method without localization, the localized EnKF method needs smaller ensemble size to achieve stabilized results. The simulation results by the localized EnKF method are much more sensitive to conductivity correlation length than to the localization radius. The developed localized EnKF method provides an approach to improve EnKF method in conductivity calibration.     

Data assimilation with the EnKF in a 1-D numerical model of a North Sea station

A series of numerical experiments for data assimilation with the Ensemble Kalman Filter (EnKF) in a shallow water model are reported. Temperature profiles measured at a North Sea location, 55°30ˊ North and 0°55ˊ East (referred to as the CS station of the NERC North Sea project), are assimilated in 1-D simulations. Comparison of simulations without assimilation to model results obtained when assimilating data with the EnKF allows us to assess the filter performance in reproducing features of the observations not accounted for by the model. The quality of the model error sampling is tested as well as the validity of the Gaussian hypothesis underlying the analysis scheme of the EnKF. The influence of the model error parameters and the frequency of the data assimilation are investigated and discussed. From these experiments, a set of optimal parameters for the model error sampling are deduced and used to test the behavior of the EnKF when propagating surface information into the water column.     

Data assimilation in groundwater modelling: ensemble Kalman filter versus ensemble smoothers

Groundwater modelling calls for an effective and robust data integrating method to fill the gap between the model and observation data. The ensemble Kalman filter (EnKF), a real‐time data assimilation method, has been increasingly applied in multiple disciplines such as petroleum engineering and hydrogeology. In this approach, a groundwater model is updated sequentially with measured data such as hydraulic head and concentration. As an alternative to the EnKF, the ensemble smoother (ES) has been proposed for updating groundwater models using all the data together, with much less computational cost. To further improve the performance of the ES, an iterative ES has been proposed for continuously updating the model by assimilating measurements together. In this work, we compare the performance of the EnKF, the ES, and the iterative ES using a synthetic example in groundwater modelling. Hydraulic head data modelled on the basis of the reference conductivity field are used to inversely estimate conductivities at unsampled locations. Results are evaluated in terms of the characterization of conductivity and groundwater flow predictions. It is concluded that (a) the iterative ES works better than the standard ES because of its continuous updating and (b) the iterative ES could achieve results comparable with those of the EnKF, with less computational cost. These findings show that the iterative ES should be paid much more attention for data assimilation in groundwater modelling.     

Data assimilation for unsaturated flow models with restart adaptive probabilistic collocation based Kalman filter

The ensemble Kalman filter (EnKF) has gained popularity in hydrological data assimilation problems. As a Monte Carlo based method, a sufficiently large ensemble size is usually required to guarantee the accuracy. As an alternative approach, the probabilistic collocation based Kalman filter (PCKF) employs the polynomial chaos expansion (PCE) to represent and propagate the uncertainties in parameters and states. However, PCKF suffers from the so-called “curse of dimensionality”. Its computational cost increases drastically with the increasing number of parameters and system nonlinearity. Furthermore, PCKF may fail to provide accurate estimations due to the joint updating scheme for strongly nonlinear models. Motivated by recent developments in uncertainty quantification and EnKF, we propose a restart adaptive probabilistic collocation based Kalman filter (RAPCKF) for data assimilation in unsaturated flow problems. During the implementation of RAPCKF, the important parameters are identified and active PCE basis functions are adaptively selected at each assimilation step; the “restart” scheme is utilized to eliminate the inconsistency between updated model parameters and states variables. The performance of RAPCKF is systematically tested with numerical cases of unsaturated flow models. It is shown that the adaptive approach and restart scheme can significantly improve the performance of PCKF. Moreover, RAPCKF has been demonstrated to be more efficient than EnKF with the same computational cost.     

Comparison of deterministic ensemble Kalman filters for assimilating hydrogeological data

Groundwater models are critical decision support tools for water resources management and environmental remediation. However, limitations in site characterization data and conceptual models can adversely affect the reliability of groundwater models. Therefore, there is a strong need for continuous model uncertainty reduction. Ensemble filters have recently emerged as promising high-dimensional data assimilation techniques. Two general categories of ensemble filters exist in the literature: perturbation-based and deterministic. Deterministic ensemble filters have been extensively studied for their better performance and robustness in assimilating oceanographic and atmospheric data. In hydrogeology, while a number of previous studies demonstrated the usefulness of the perturbation-based ensemble Kalman filter (EnKF) for joint parameter and state estimation, there have been few systematic studies investigating the performance of deterministic ensemble filters. This paper presents a comparative study of four commonly used deterministic ensemble filters for sequentially estimating the hydraulic conductivity parameter in low- and moderately high-dimensional groundwater models. The performance of the filters is assessed on the basis of twin experiments in which the true hydraulic conductivity field is assumed known. The test results indicate that the deterministic ensemble Kalman filter (DEnKF) is the most robust filter and achieves the best performance at relatively small ensemble sizes. Deterministic ensemble filters often make use of covariance inflation and localization to stabilize filter performance. Sensitivity studies demonstrate the effects of covariance inflation, localization, observation density, and conditioning on filter performance.     

Evaluating the utility of the ensemble transform Kalman filter for adaptive sampling when updating a hydrodynamic model

This paper compares two Monte Carlo sequential data assimilation methods based on the Kalman filter, for estimating the effect of measurements on simulations of state error variance made by a one-dimensional hydrodynamic model. The first method used an ensemble Kalman filter (EnKF) to update state estimates, which were then used as initial conditions for further simulations. The second method used an ensemble transform Kalman filter (ETKF) to quickly estimate the effect of measurement error covariance on forecast error covariance without the need to re-run the simulation model. The ETKF gave an unbiased estimate of EnKF analysed error variance, although differences in the treatment of measurement errors meant the results were not identical. Estimates of forecast error variance could also be made, but their accuracy deteriorated as the time from measurements increased due in part to model non-linearity and the decreasing signal variance. The motivation behind the study was to assess the ability of the ETKF to target possible measurements, as part of an adaptive sampling framework, before they are assimilated by an EnKF-based forecasting model on the River Crouch, Essex, UK. The ETKF was found to be a useful tool for quickly estimating the error covariance expected after assimilating measurements into the hydrodynamic model. It, thus, provided a means of quantifying the ‘usefulness’ (in terms of error variance) of possible sampling schemes.     

Hydrological data assimilation with the Ensemble Square-Root-Filter: Use of streamflow observations to update model states for real-time flash flood forecasting

The objective of the study is to evaluate the potential of a data assimilation system for real-time flash flood forecasting over small watersheds by updating model states. To this end, the Ensemble Square-Root-Filter (EnSRF) based on the Ensemble Kalman Filter (EnKF) technique was coupled to a widely used conceptual rainfall-runoff model called HyMOD. Two small watersheds susceptible to flash flooding from America and China were selected in this study. The modeling and observational errors were considered in the framework of data assimilation, followed by an ensemble size sensitivity experiment. Once the appropriate model error and ensemble size was determined, a simulation study focused on the performance of a data assimilation system, based on the correlation between streamflow observation and model states, was conducted. The EnSRF method was implemented within HyMOD and results for flash flood forecasting were analyzed, where the calibrated streamflow simulation without state updating was treated as the benchmark or nature run. Results for twenty-four flash-flood events in total from the two watersheds indicated that the data assimilation approach effectively improved the predictions of peak flows and the hydrographs in general. This study demonstrated the benefit and efficiency of implementing data assimilation into a hydrological model to improve flash flood forecasting over small, instrumented basins with potential application to real-time alert systems.     

Optimal estimation of irrigation schedule – An example of quantifying human interferences to hydrologic processes

Reliable records of water use for irrigation are often lacking. This presents a difficulty for a qualified water use and water availability assessment. Quantification of the hydrologic cycle processes in regions of intensive agricultural practice requires irrigation as an input to hydrologic models. This paper presents a coupled forward-inverse framework to estimate irrigation schedule using remote-sensed data and data assimilation and optimization techniques. Irrigation schedule is treated as an unknown input to a hydro-agronomic simulation model. Remote-sensed data is used to assess actual crop evapotranspiration, which is used as the “observation” of the computed crop evapotranspiration from the simulation model. To handle the impact of model and observation error and the unknown biased error with irrigation inputs, a coupled forward-inverse approach is proposed, implemented and tested. The coupled approach is realized by an integrated ensemble Kalman filter (EnKF) and genetic algorithm (GA). The result from a case study demonstrates that the forward and inverse procedures in the coupled framework are complementary to each other. Further analysis is provided on the impact of model and observation errors on the non-uniqueness problem with inverse modeling and on the exactness of irrigation estimates.     

Sequential assimilation of soil moisture and streamflow data in a conceptual rainfall–runoff model

Soil moisture is a key hydrological variable in flood forecasting: it largely influences the partition of rain between runoff and infiltration and thus controls the flow at the outlet of a catchment. The methodology developed in this paper aims at improving the commonly used hydrological tools in an operational forecasting context by introducing soil moisture data into streamflow modelling. A sequential assimilation procedure, based on an extended Kalman filter, is developed and coupled with a lumped conceptual rainfall–runoff model. It updates the internal states of the model (soil and routing reservoirs) by assimilating daily soil moisture and streamflow data in order to better fit these external observations. We present in this paper the results obtained on the Serein, a Seine sub-catchment (France), during a period of about 2 years and using Time Domain Reflectivity probe soil moisture measurements from 0–10 to 0–100 cm and stream gauged data. Streamflow prediction is improved by assimilation of both soil moisture and streamflow individually and by coupled assimilation. Assimilation of soil moisture data is particularly effective during flood events while assimilation of streamflow data is more effective for low flows. Combined assimilation is therefore more adequate on the entire forecasting period. Finally, we discuss the adequacy of this methodology coupled with Remote Sensing data.     

Evaluating the spatial distribution of water balance in a small watershed,Pennsylvania

A conceptual water‐balance model was modified from a point application to be distributed for evaluating the spatial distribution of watershed water balance based on daily precipitation, temperature and other hydrological parameters. The model was calibrated by comparing simulated daily variation in soil moisture with field observed data and results of another model that simulates the vertical soil moisture flow by numerically solving Richards' equation. The impacts of soil and land use on the hydrological components of the water balance, such as evapotranspiration, soil moisture deficit, runoff and subsurface drainage, were evaluated with the calibrated model in this study. Given the same meteorological conditions and land use, the soil moisture deficit, evapotranspiration and surface runoff increase, and subsurface drainage decreases, as the available water capacity of soil increases. Among various land uses, alfalfa produced high soil moisture deficit and evapotranspiration and lower surface runoff and subsurface drainage, whereas soybeans produced an opposite trend. The simulated distribution of various hydrological components shows the combined effect of soil and land use. Simulated hydrological components compare well with observed data. The study demonstrated that the distributed water balance approach is efficient and has advantages over the use of single average value of hydrological variables and the application at a single point in the traditional practice. Copyright © 2000 John Wiley & Sons, Ltd.