A Bayesian method for missing rainfall estimation using a conceptual rainfall–runoff model

The estimation of missing rainfall data is an important problem for data analysis and modelling studies in hydrology. This paper develops a Bayesian method to address missing rainfall estimation from runoff measurements based on a pre-calibrated conceptual rainfall–runoff model. The Bayesian method assigns posterior probability of rainfall estimates proportional to the likelihood function of measured runoff flows and prior rainfall information, which is presented by uniform distributions in the absence of rainfall data. The likelihood function of measured runoff can be determined via the test of different residual error models in the calibration phase. The application of this method to a French urban catchment indicates that the proposed Bayesian method is able to assess missing rainfall and its uncertainty based only on runoff measurements, which provides an alternative to the reverse model for missing rainfall estimates.     

How do hydrologic modeling decisions affect the portrayal of climate change impacts?

End users face a range of subjective decisions when evaluating climate change impacts on hydrology, but the importance of these decisions is rarely assessed. In this paper, we evaluate the implications of hydrologic modelling choices on projected changes in the annual water balance, monthly simulated processes, and signature measures (i.e. metrics that quantify characteristics of the hydrologic catchment response) under a future climate scenario. To this end, we compare hydrologic changes computed with four different model structures – whose parameters have been obtained using a common calibration strategy – with hydrologic changes computed with a single model structure and parameter sets from multiple options for different calibration decisions (objective function, local optima, and calibration forcing dataset). Results show that both model structure selection and the parameter estimation strategy affect the direction and magnitude of projected changes in the annual water balance, and that the relative effects of these decisions are basin dependent. The analysis of monthly changes illustrates that parameter estimation strategies can provide similar or larger uncertainties in simulations of some hydrologic processes when compared with uncertainties coming from model choice. We found that the relative effects of modelling decisions on projected changes in catchment behaviour depend on the signature measure analysed. Furthermore, parameter sets with similar performance, but located in different regions of the parameter space, provide very different projections for future catchment behaviour. More generally, the results obtained in this study prompt the need to incorporate parametric uncertainty in multi‐model frameworks to avoid an over‐confident portrayal of climate change impacts. Copyright © 2015 John Wiley & Sons, Ltd.     

Dual state–parameter estimation of hydrological models using ensemble Kalman filter

Hydrologic models are twofold: models for understanding physical processes and models for prediction. This study addresses the latter, which modelers use to predict, for example, streamflow at some future time given knowledge of the current state of the system and model parameters. In this respect, good estimates of the parameters and state variables are needed to enable the model to generate accurate forecasts. In this paper, a dual state–parameter estimation approach is presented based on the Ensemble Kalman Filter (EnKF) for sequential estimation of both parameters and state variables of a hydrologic model. A systematic approach for identification of the perturbation factors used for ensemble generation and for selection of ensemble size is discussed. The dual EnKF methodology introduces a number of novel features: (1) both model states and parameters can be estimated simultaneously; (2) the algorithm is recursive and therefore does not require storage of all past information, as is the case in the batch calibration procedures; and (3) the various sources of uncertainties can be properly addressed, including input, output, and parameter uncertainties. The applicability and usefulness of the dual EnKF approach for ensemble streamflow forecasting is demonstrated using a conceptual rainfall-runoff model.     

A comparison of non-linear least square and GLUE for model calibration and uncertainty estimation for pesticide transport in soils

The problems of calibrating soil hydraulic and transport parameters are well documented, particularly when data are limited. Programs such as CXTFIT, UUCODE and PEST, based on well established principles of statistical inference, will often provide good fits to limited observations giving the impression that a useful model of a particular soil system has been obtained. This may be the case, but such an approach may grossly underestimate the uncertainties associated with future predictions of the system and resulting dependent variables. In this paper, this is illustrated by an application of CXTFIT within the generalised likelihood uncertainty estimation (GLUE) approach to model calibration which is based on a quite different philosophy. CXTFIT gives very good fits to the observed breakthrough curves for several different model formulations, resulting in very small parameter uncertainty estimates. The application of GLUE, however, shows that much wider ranges of parameter values can provide acceptable fits to the data. The wider range of potential outcomes should be more robust in model prediction, especially when used to constrain field scale models.     

Impact of the numbers of observations and calibration parameters on equifinality,model performance,and output and parameter uncertainty

The level of model complexity that can be effectively supported by available information has long been a subject of many studies in hydrologic modelling. In particular, distributed parameter models tend to be regarded as overparameterized because of numerous parameters used to describe spatially heterogeneous hydrologic processes. However, it is not clear how parameters and observations influence the degree of overparameterization, equifinality of parameter values, and uncertainty. This study investigated the impact of the numbers of observations and parameters on calibration quality including equifinality among calibrated parameter values, model performance, and output/parameter uncertainty using the Soil and Water Assessment Tool model. In the experiments, the number of observations was increased by expanding the calibration period or by including measurements made at inner points of a watershed. Similarly, additional calibration parameters were included in the order of their sensitivity. Then, unique sets of parameters were calibrated with the same objective function, optimization algorithm, and stopping criteria but different numbers of observations. The calibration quality was quantified with statistics calculated based on the ‘behavioural’ parameter sets, identified using 1% and 5% cut‐off thresholds in a generalized likelihood uncertainty estimation framework. The study demonstrated that equifinality, model performance, and output/parameter uncertainty were responsive to the numbers of observations and calibration parameters; however, the relationship between the numbers, equifinality, and uncertainty was not always conclusive. Model performance improved with increased numbers of calibration parameters and observations, and substantial equifinality did neither necessarily mean bad model performance nor large uncertainty in the model outputs and parameters. Copyright © 2015 John Wiley & Sons, Ltd.     

Uncertainty in index flood modelling due to calibration data sizes

Regional frequency analysis is an important tool in estimating design flood for ungauged catchments. Index flood is an important component in regionalized flood formulas. In the past, many formulas have been developed based on various numbers of calibration catchments (e.g. from less than 20 to several hundred). However, there is a lack of systematic research on the model uncertainties caused by the number of calibration catchments (i.e. what is the minimum number of calibration catchment? and how should we choose the calibration catchments?). This study uses the statistical resampling technique to explore the impact of calibration catchment numbers on the index flood estimation. The study is based on 182 catchments in England and an index flood formula has been developed using the input variable selection technique in the data mining field. The formula has been used to explore the model uncertainty due to a range of calibration catchment numbers (from 15 to 130). It is found that (1) as expected, the more catchments are used in the calibration, the more reliable of the models developed are (i.e. with a narrower band of uncertainty); (2) however, poor models are still possible with a large number of calibration catchments (e.g. 130). In contrast, good models with a small number of calibration catchments are also achievable (with as low as 15 calibration catchments). This indicates that the number of calibration catchments is only one of the factors influencing the model performance. The hydrological community should explore why a smaller calibration data set could produce a better model than a large calibration data set. It is clear from this study that the information content in the calibration data set is equally if not more important than the number of calibration data. Copyright © 2011 John Wiley & Sons, Ltd.     

Rainfall stochastic disaggregation models: Calibration and validation of a multiplicative cascade model

The simulation of long time series of rainfall rates at short time steps remains an important issue for various applications in hydrology. Among the various types of simulation models, random multiplicative cascade models (RMC models) appear as an appealing solution which displays the advantages to be parameter parsimonious and linked to the multifractal theory. This paper deals with the calibration and validation of RMC models. More precisely, it discusses the limits of the scaling exponent function method often used to calibrate RMC models, and presents an hydrological validation of calibrated RMC models. A 8-year time series of 1-min rainfall rates is used for the calibration and the validation of the tested models. The paper is organized in three parts. In the first part, the scaling invariance properties of the studied rainfall series is shown using various methods (q-moments, PDMS, autocovariance structure) and a RMC model is calibrated on the basis of the rainfall data scaling exponent function. A detailed analysis of the obtained results reveals that the shape of the scaling exponent function, and hence the values of the calibrated parameters of the RMC model, are highly sensitive to sampling fluctuation and may also be biased. In the second part, the origin of the sensivity to sampling fluctuation and of the bias is studied in detail and a modified Jackknife estimator is tested to reduce the bias. Finally, two hydrological applications are proposed to validate two candidate RMC models: a canonical model based on a log-Poisson random generator, and a basic micro-canonical model based on a uniform random generator. It is tested in this third part if the models reproduce faithfully the statistical distribution of rainfall characteristics on which they have not been calibrated. The results obtained for two validation tests are relatively satisfactory but also show that the temporal structure of the measured rainfall time series at small time steps is not well reproduced by the two selected simple random cascade models.     

Application of the patient rule induction method to detect hydrologic model behavioural parameters and quantify uncertainty

Finding an operational parameter vector is always challenging in the application of hydrologic models, with over‐parameterization and limited information from observations leading to uncertainty about the best parameter vectors. Thus, it is beneficial to find every possible behavioural parameter vector. This paper presents a new methodology, called the patient rule induction method for parameter estimation (PRIM‐PE), to define where the behavioural parameter vectors are located in the parameter space. The PRIM‐PE was used to discover all regions of the parameter space containing an acceptable model behaviour. This algorithm consists of an initial sampling procedure to generate a parameter sample that sufficiently represents the response surface with a uniform distribution within the “good‐enough” region (i.e., performance better than a predefined threshold) and a rule induction component (PRIM), which is then used to define regions in the parameter space in which the acceptable parameter vectors are located. To investigate its ability in different situations, the methodology is evaluated using four test problems. The PRIM‐PE sampling procedure was also compared against a Markov chain Monte Carlo sampler known as the differential evolution adaptive Metropolis (DREAM_ZS) algorithm. Finally, a spatially distributed hydrological model calibration problem with two settings (a three‐parameter calibration problem and a 23‐parameter calibration problem) was solved using the PRIM‐PE algorithm. The results show that the PRIM‐PE method captured the good‐enough region in the parameter space successfully using 8 and 107 boxes for the three‐parameter and 23‐parameter problems, respectively. This good‐enough region can be used in a global sensitivity analysis to provide a broad range of parameter vectors that produce acceptable model performance. Moreover, for a specific objective function and model structure, the size of the boxes can be used as a measure of equifinality.     

Numerical modelling of the suspended sediment transport in Torres Strait

One-dimensional vertical and three-dimensional fine-resolution numerical models of sediment transport have been developed and applied to the Torres Strait region of northern Australia. The one-dimensional model, driven by measured waves and currents, was calibrated against measured suspended sediment concentrations using a sequential data assimilation algorithm. The algorithm produced a good match between model and data, but this was achieved only by allowing some temporal variability in parameter values, suggesting that there were underlying uncertainties in the model structure and forcing data. Implications of the assimilation results to the accuracy of the numerical modelling are discussed and the need for observational programmes having an extensive spatial and temporal coverage is highlighted. The three-dimensional sediment model, driven by modelled waves and currents, simulates sediment transport over the shelf during the monsoon and trade-wind seasons covering 1997–2000. The model predicts strong seasonal variability of the sediment transport on the shelf attributed to seasonally varying hydrodynamics, and illustrates significant inter-annual variability of the sediment fluxes driven by extreme events. The developed model provides a platform for testing scientific hypothesis. With additional calibration, including uncertainty analysis, it can also be used in a management context.     

Stochastic inversion of pressure and saturation changes from time-lapse multi component data

Knowledge about saturation and pressure distributions in a reservoir can help in determining an optimal drainage pattern, and in deciding on optimal well designs to reduce risks of blow‐outs and damage to production equipment. By analyzing time‐lapse PP AVO or time‐lapse multicomponent seismic data, it is possible to separate the effects of production related saturation and pressure changes on seismic data. To be able to utilize information about saturation and pressure distributions in reservoir model building and simulation, information about uncertainty in the estimates is useful. In this paper we present a method to estimate changes in saturation and pressure from time‐lapse multicomponent seismic data using a Bayesian estimation technique. Results of the estimations will be probability density functions (pdfs), giving immediate information about both parameter values and uncertainties. Linearized rock physical models are linked to the changes in saturation and pressure in the prior probability distribution. The relationship between the elastic parameters and the measured seismic data is described in the likelihood model. By assuming Gaussian distributed prior uncertainties the posterior distribution of the saturation and pressure changes can be calculated analytically. Results from tests on synthetic seismic data show that this method produces more precise estimates of changes in effective pressure than a similar methodology based on only PP AVO time‐lapse seismic data. This indicates that additional information about S‐waves obtained from converted‐wave seismic data is useful for obtaining reliable information about the pressure change distribution.     

Calibration of hydrological models in ungauged basins based on satellite radar altimetry observations of river water level

This paper proposes a new orientation to address the problem of hydrological model calibration in ungauged basin. Satellite radar altimetric observations of river water level at basin outlet are used to calibrate the model, as a surrogate of streamflow data. To shift the calibration objective, the hydrological model is coupled with a hydraulic model describing the relation between streamflow and water stage. The methodology is illustrated by a case study in the Upper Mississippi Basin using TOPEX/Poseidon (T/P) satellite data. The generalized likelihood uncertainty estimation (GLUE) is employed for model calibration and uncertainty analysis. We found that even without any streamflow information for regulating model behavior, the calibrated hydrological model can make fairly reasonable streamflow estimation. In order to illustrate the degree of additional uncertainty associated with shifting calibration objective and identifying its sources, the posterior distributions of hydrological parameters derived from calibration based on T/P data, streamflow data and T/P data with fixed hydraulic parameters are compared. The results show that the main source is the model parameter uncertainty. And the contribution of remote sensing data uncertainty is minor. Furthermore, the influence of removing high error satellite observations on streamflow estimation is also examined. Under the precondition of sufficient temporal coverage of calibration data, such data screening can eliminate some unrealistic parameter sets from the behavioral group. The study contributes to improve streamflow estimation in ungauged basin and evaluate the value of remote sensing in hydrological modeling. Copyright © 2011 John Wiley & Sons, Ltd.     

Probabilistic inversion of Rayleigh-wave dispersion data: an application to Mt. Etna, Italy

We present a methodology for determining the elastic properties of the shallow crust from inversion of surface wave dispersion characteristics through a fully nonlinear procedure. Using volcanic tremor data recorded by a small-aperture seismic array on Mount Etna, we measured the surface waves dispersion curves with the multiple signal classification technique. The large number of measurements allows the determination of an a priori probability density function without the need of making any assumption about the uncertainties on the observations. Using this information, we successively conducted the inversion of phase velocities using a probabilistic approach. Using a wave-number integration method, we calculated the predicted dispersion function for thousands of 1-D models through a systematic grid search investigation of shear-wave velocities in individual layers. We joined this set of theoretical dispersion curves to the experimental probability density function (PDF), thus obtaining the desired structural model in terms of an a posteriori PDF of model parameters. This process allowed the representation of the objective function, showing the non-uniqueness of the solutions and providing a quantitative view of the uncertainties associated with the estimation of each parameter. We then compared the solution with the surface wave group velocities derived from diffuse noise Green’s functions calculated at pairs of widely spaced (~5–10 km) stations. In their gross features, results from the two different approaches are comparable, and are in turn consistent with the models presented in several earlier studies.     

Parameter Estimation for Groundwater Models under Uncertain Irrigation Data

The success of modeling groundwater is strongly influenced by the accuracy of the model parameters that are used to characterize the subsurface system. However, the presence of uncertainty and possibly bias in groundwater model source/sink terms may lead to biased estimates of model parameters and model predictions when the standard regression‐based inverse modeling techniques are used. This study first quantifies the levels of bias in groundwater model parameters and predictions due to the presence of errors in irrigation data. Then, a new inverse modeling technique called input uncertainty weighted least‐squares (IUWLS) is presented for unbiased estimation of the parameters when pumping and other source/sink data are uncertain. The approach uses the concept of generalized least‐squares method with the weight of the objective function depending on the level of pumping uncertainty and iteratively adjusted during the parameter optimization process. We have conducted both analytical and numerical experiments, using irrigation pumping data from the Republican River Basin in Nebraska, to evaluate the performance of ordinary least‐squares (OLS) and IUWLS calibration methods under different levels of uncertainty of irrigation data and calibration conditions. The result from the OLS method shows the presence of statistically significant (p < 0.05) bias in estimated parameters and model predictions that persist despite calibrating the models to different calibration data and sample sizes. However, by directly accounting for the irrigation pumping uncertainties during the calibration procedures, the proposed IUWLS is able to minimize the bias effectively without adding significant computational burden to the calibration processes.     

Hydraulic Gradient Comparison Method to Estimate Aquifer Hydraulic Parameters Under Steady-State Conditions

The hydraulic gradient comparison method is an inverse method for estimation of aquifer hydraulic conductivity (or trans-missivity) and boundary conductance for a ground water flow model under steady-state conditions. This method, following formal optimization techniques, defines its objective function to minimize differences between interpreted (observed) and simulated hydraulic gradients, which results in minimization of differences between observed and simulated hydraulic heads. The key features of this method are that (1) the derived optimality conditions have an explicit form with a clear hydrology concept that is con-sistent with Darcy's law, and (2) the derived optimality conditions are spatially independent as they are a function of only local hydraulic conductivity and local hydraulic gradient. This second feature allows a multidimensional optimization problem to be solved by many one-dimensional optimization procedures simultaneously, which results in a substantial reduction in computation time. The results of the numerical performance testing on a heterogeneous hypothetical case confirm that minimizing gradient residuals in the entire model domain leads to minimizing head residuals. Application of the method in real-world projects requires rigorous conceptual model development, use of a global calibration target, and an iterative calibration proess. The conceptual model development includes interpretation of a potentiometric surface and estimation of other hydrologic parameters. This method has been applied to a wide range of real-world modeling projects, including the Rocky Mountain Arsenal and Rocky Flats sites in Colorado, which demonstrates that the method is efficient and practical.     

Calibration of Parameter Fields Consisting of Multiple Statistical Populations

If a parameter field to be calibrated consists of more than one statistical population, usually not only the parameter values are uncertain, but the spatial distributions of the populations are uncertain as well. In this study, we demonstrate the potential of the multimodal calibration method we proposed recently for the calibration of such fields, as applied to real-world ground water models with several additional stochastic parameter fields. Our method enables the calibration of the spatial distribution of the statistical populations, as well as their spatially correlated parameterization, while honoring the complete prior geostatistical definition of the multimodal parameter field. We illustrate the implications of the method in terms of the reliability of the posterior model by comparing its performance to that of a "conventional" calibration approach in which the positions of the statistical populations are not allowed to change. Information from synthetic calibration runs is used to show how ignoring the uncertainty involved in the positions of the statistical populations not only denies the modeler the opportunity to use the measurement information to improve these positions but also unduly influences the posterior intrapopulation distributions, causes unjustified adjustments to the cocalibrated parameter fields, and results in poorer observation reproduction. The proposed multimodal calibration allows a more complete treatment of the relevant uncertainties, which prevents the abovementioned adverse effects and renders a more trustworthy posterior model.     

AN EXERCISE IN GROUND-WATER MODEL CALIBRATION AND PREDICTION

Abstract. For a classroom exercise, nine groups of graduate students calibrated a numerical ground-water flow model to a set of perfectly observed hydraulic head data for a hypothetical phreatic aquifer. All groups used exactly the same numerical model and identical sets of observed data. After calibration, the students predicted the hydraulic head distribution in the aquifer resulting from a modification in one boundary condition. A quantitative analysis of the results of this calibration-prediction exercise vividly demonstrates some of the difficulties in parameter identification for ground-water flow models. Group predictions differed significantly. Successful prediction was strongly correlated with successful estimation of conductivity values, and was essentially unrelated to successful estimation of aquifer bottom elevations or with the number of trial-and-error simulations required for calibration. Most importantly, success in prediction was unrelated to success in matching observed heads under premodification conditions. In this sense, good calibration did not lead to good prediction.     

Leveraging ensemble meteorological forcing data to improve parameter estimation of hydrologic models

As continental to global scale high-resolution meteorological datasets continue to be developed, there are sufficient meteorological datasets available now for modellers to construct a historical forcing ensemble. The forcing ensemble can be a collection of multiple deterministic meteorological datasets or come from an ensemble meteorological dataset. In hydrological model calibration, the forcing ensemble can be used to represent forcing data uncertainty. This study examines the potential of using the forcing ensemble to identify more robust parameters through model calibration. Specifically, we compare an ensemble forcing-based calibration with two deterministic forcing-based calibrations and investigate their flow simulation and parameter estimation properties and the ability to resist poor-quality forcings. The comparison experiment is conducted with a six-parameter hydrological model for 30 synthetic studies and 20 real data studies to provide a better assessment of the average performance of the deterministic and ensemble forcing-based calibrations. Results show that the ensemble forcing-based calibration generates parameter estimates that are less biased and have higher frequency of covering the true parameter values than the deterministic forcing-based calibration does. Using a forcing ensemble in model calibration reduces the risk of inaccurate flow simulation caused by poor-quality meteorological inputs, and improves the reliability and overall simulation skill of ensemble simulation results. The poor-quality meteorological inputs can be effectively filtered out via our ensemble forcing-based calibration methodology and thus discarded in any post-calibration model applications. The proposed ensemble forcing-based calibration method can be considered as a more generalized framework to include parameter and forcing uncertainties in model calibration.     

Development of conceptual semi-distributed hydrological models and estimation of their parameters with the aid of GIS

Abstract

Conceptual semi-distributed hydrological models are developed for a limited consideration of spatial heterogeneity of hydrological characteristics within a river basin. This heterogeneity can be described by area distribution functions of hydrological characteristics which can be estimated in a most effective way by a Geographical Information System (GIS). It is shown how the application of a GIS can support the development and the calibration of a conceptual hydrological model. GIS information is used to establish the criteria for sub-division of the river basin and for estimation of model structures (especially for further horizontal divisions of each basin into more homogeneous parts). That information is also used for estimation of basin characteristics and their differences between sub-basins as a support for parameter calibration by optimization. The methodology presented can be used for the development of a model structure on an objective basis and for model calibration which considers the physical explanation of model parameters. The proposed method was successfully applied to a river basin within the Mosel basin (Germany).     

A hybrid optimization approach for efficient calibration of computationally intensive hydrological models

ABSTRACT

The calibration of hydrological models is formulated as a blackbox optimization problem where the only information available is the objective function value. Distributed hydrological models are generally computationally intensive, and their calibration may require several hours or days which can be an issue for many operational contexts. Different optimization algorithms have been developed over the years and exhibit different strengths when applied to the calibration of computationally intensive hydrological models. This paper shows how the dynamically dimensioned search (DDS) and the mesh adaptive direct search (MADS) algorithms can be combined to significantly reduce the computational time of calibrating distributed hydrological models while ensuring robustness and stability regarding the final objective function values. Five transitional features are described to adequately merge both algorithms. The hybrid approach is applied to the distributed and computationally intensive HYDROTEL model on three different river basins located in Québec (Canada).     

Modelling discharge from a coastal watershed in southeast Sweden using an integrated framework

The field hydrology model DRAINMOD integrated with Arc Hydro in geographical information system (GIS) framework (Arc Hydro–DRAINMOD) was used to simulate the hydrological response of a coastal watershed in southeast Sweden. Arc Hydro–DRAINMOD uses a distributed approach to route water from each field edge to the watershed outlet. In the framework the Arc Hydro data model was used to describe the stream network in the watershed and to connect the individual simulated DRAINMOD‐field outflow time series from each plot using Arc Hydro schema‐links features, which were summed at Arc Hydro schema‐nodes features along the stream network to generate the stream network flow. Hydrology data collected during six periods between 2003 and 2008 were used to test Arc Hydro–DRAINMOD and its performance was evaluated by considering uncertainties in model inputs using generalized likelihood uncertainty estimation (GLUE). The GLUE estimates obtained (uncertainty bands 5% and 95%) agreed satisfactorily with measured monthly discharges. The percentage of time in which the observed discharges were bracketed by the uncertainty bands was 88% in calibration periods and 75% in validation periods. Although monthly time step simulations showed good agreement with observed discharges during the two main discharge events in spring, the contradictory daily time step results indicate that the watershed response simulations on a daily basis need to be improved. The uncertainty analysis showed that in periods of higher discharge, such as spring periods, the uncertainty in prediction was higher. It is important to note that these uncertainty estimations using the GLUE procedure include the uncertainties in measured discharge values, model inputs, boundary conditions and model structures. It was estimated that stream baseflow represented 42% of the total watershed discharge, but further research is needed to confirm this. These results show that the new Arc Hydro–DRAINMOD framework is applicable for predicting discharge from artificially drained watersheds in southeast Sweden. Copyright © 2010 John Wiley & Sons, Ltd.