Application of the BME approach to soil texture mapping

In order to derive accurate space/time maps of soil properties, soil scientists need tools that combine the usually scarce hard data sets with the more easily accessible soft data sets. In the field of modern geostatistics, the Bayesian maximum entropy (BME) approach provides new and powerful means for incorporating various forms of physical knowledge (including hard and soft data, soil classification charts, land cover data from satellite pictures, and digital elevation models) into the space/time mapping process. BME produces the complete probability distribution at each estimation point, thus allowing the calculation of elaborate statistics (even when the distribution is not Gaussian). It also offers a more rigorous and systematic method than kriging for integrating uncertain information into space/time mapping. In this work, BME is used to estimate the three textural fractions involved in a texture map. The first case study focuses on the estimation of the clay fraction, whereas the second one considers the three textural fractions (sand, silt and clay) simultaneously. The BME maps obtained are informative (important soil characteristics are identified, natural variations are well reproduced, etc.). Furthermore, in both case studies, the estimates obtained by BME were more accurate than the simple kriging (SK) estimates, thus offering a better picture of soil reality. In the multivariate case, classification error rate analysis in terms of BME performs considerably better than in terms of kriging. Analysis in terms of BME can offer valuable information to be used in sampling design, in optimizing the hard to soft data ratio, etc.     

Geostatistical interpolation of object counts collected from multiple strip transects: Ordinary kriging versus finite domain kriging

Data collected along transects are becoming more common in environmental studies as indirect measurement devices, such as geophysical sensors, that can be attached to mobile platforms become more prevalent. Because exhaustive sampling is not always possible under constraints of time and costs, geostatistical interpolation techniques are used to estimate unknown values at unsampled locations from transect data. It is known that outlying observations can receive significantly greater ordinary kriging weights than centrally located observations when the data are contiguously aligned along a transect within a finite search window. Deutsch (1994) proposed a kriging algorithm, finite domain kriging, that uses a redundancy measure in place of the covariance function in the data-to-data kriging matrix to address the problem of overweighting the outlying observations. This paper compares the performances of two kriging techniques, ordinary kriging (OK) and finite domain kriging (FDK), on examining unexploded ordnance (UXO) densities by comparing prediction errors at unsampled locations. The impact of sampling design on object count prediction is also investigated using data collected from transects and at random locations. The Poisson process is used to model the spatial distribution of UXO for three 5000 × 5000 m fields; one of which does not have any ordnance target (homogeneous field), while the other two sites have an ordnance target in the center of the site (isotropic and anisotropic fields). In general, for a given sampling transects width, the differences between OK and FDK in terms of the mean error and the mean square error are not significant regardless of the sampled area and the choice of the field. When 20% or more of the site is sampled, the estimation of object counts is unbiased on average for all three fields regardless of the choice of the transect width and the choice of the kriging algorithm. However, for non-homogeneous fields (isotropic and anisotropic fields), the mean error fluctuates considerably when a small number of transects are sampled. The difference between the transect sampling and the random sampling in terms of prediction errors becomes almost negligible if more than 20% of the site is sampled. Overall, FDK is no better than OK in terms of the prediction performances when the transect sampling procedure is used.     

Space-time mapping of soil salinity using probabilistic bayesian maximum entropy

The mapping of saline soils is the first task before any reclamation effort. Reclamation is based on the knowledge of soil salinity in space and how it evolves with time. Soil salinity is traditionally determined by soil sampling and laboratory analysis. Recently, it became possible to complement these hard data with soft secondary data made available using field sensors like electrode probes. In this study, we had two data sets. The first includes measurements of field salinity (EC_a) at 413 locations and 19 time instants. The second, which is a subset of the first (13 to 20 locations), contains, in addition to EC_a, salinity determined in the laboratory (EC_2.5). Based on a procedure of cross-validation, we compared the prediction performance in the space-time domain of 3 methods: kriging using either only hard data (HK) or hard and mid interval soft data (HMIK), and Bayesian maximum entropy (BME) using probabilistic soft data. We found that BME was less biased, more accurate and giving estimates, which were better correlated with the observed values than the two kriging techniques. In addition, BME allowed one to delineate with better detail saline from non-saline areas.     

Radial basis function neural network for hydrologic inversion: an appraisal with classical and spatio-temporal geostatistical techniques in the context of site characterization

This paper investigates three techniques for spatial mapping and the consequential hydrologic inversion, using hydraulic conductivity (or transmissivity) and hydraulic head as the geophysical parameters of concern. The data for the study were obtained from the Waste Isolation and Pilot Plant (WIPP) site and surrounding area in the remote Chihuahuan Desert of southeastern New Mexico. The central technique was the Radial Basis Function algorithm for an Artificial Neural Network (RBF-ANN). An appraisal of its performance in light of classical and temporal geostatistical techniques is presented. Our classical geostatistical technique of concern was Ordinary Kriging (OK), while the method of Bayesian Maximum Entropy (BME) constituted an advanced, spatio-temporal mapping technique. A fusion technique for soft or inter-dependent data was developed in this study for use with the neural network. It was observed that the RBF-ANN is capable of hydrologic inversion for transmissivity estimation with features remaining essentially similar to that obtained from kriging. The BME technique, on the other hand, was found to reveal an ability to map localized lows and highs that were otherwise not as apparent in OK or RBF-ANN techniques.     

Spatial prediction of categorical variables: the Bayesian maximum entropy approach

 Being a non-linear method based on a rigorous formalism and an efficient processing of various information sources, the Bayesian maximum entropy (BME) approach has proven to be a very powerful method in the context of continuous spatial random fields, providing much more satisfactory estimates than those obtained from traditional linear geostatistics (i.e., the various kriging techniques). This paper aims at presenting an extension of the BME formalism in the context of categorical spatial random fields. In the first part of the paper, the indicator kriging and cokriging methods are briefly presented and discussed. A special emphasis is put on their inherent limitations, both from the theoretical and practical point of view. The second part aims at presenting the theoretical developments of the BME approach for the case of categorical variables. The three-stage procedure is explained and the formulations for obtaining prior joint distributions and computing posterior conditional distributions are given for various typical cases. The last part of the paper consists in a simulation study for assessing the performance of BME over the traditional indicator (co)kriging techniques. The results of these simulations highlight the theoretical limitations of the indicator approach (negative probability estimates, probability distributions that do not sum up to one, etc.) as well as the much better performance of the BME approach. Estimates are very close to the theoretical conditional probabilities, that can be computed according to the stated simulation hypotheses.     

Incorporating elevation in rainfall interpolation in Tunisia using geostatistical methods

Abstract

This paper compares the performance of three geostatistical algorithms, which integrate elevation as an auxiliary variable: kriging with external drift (KED); kriging combined with regression, called regression kriging (RK) or kriging after detrending; and co-kriging (CK). These three methods differ by the way by in which the secondary information is introduced into the prediction procedure. They are applied to improve the prediction of the monthly average rainfall observations measured at 106 climatic stations in Tunisia over an area of 164 150 km² using the elevation as the auxiliary variable. The experimental sample semivariograms, residual semivariograms and cross-variograms are constructed and fitted to estimate the rainfall levels and the estimation variance at the nodes of a square grid of 20 km?×?20 km resolution and to develop corresponding contour maps. Contour diagrams for KED and RK were similar and exhibited a pattern corresponding more closely to local topographic features when (a) the network is sparse and (b) the rainfall–elevation correlation is poor, while CK showed a smooth zonal pattern. Smaller prediction variances are obtained for the RK algorithm. The cross-validation showed that the RMSE obtained for CK gave better results than for KED or RK.

Editor D. Koutsoyiannis; Associate editor C. Onof

Citation Feki, H., Slimani, M., and Cudennec, C., 2012. Incorporating elevation in rainfall interpolation in Tunisia using geostatistical methods. Hydrological Sciences Journal, 57 (7), 1294–1314.     

The Bayesian maximum entropy method for lognormal variables

The Bayesian maximum entropy (BME) method can be used to predict the value of a spatial random field at an unsampled location given precise (hard) and imprecise (soft) data. It has mainly been used when the data are non-skewed. When the data are skewed, the method has been used by transforming the data (usually through the logarithmic transform) in order to remove the skew. The BME method is applied for the transformed variable, and the resulting posterior distribution transformed back to give a prediction of the primary variable. In this paper, we show how the implementation of the BME method that avoids the use of a transform, by including the logarithmic statistical moments in the general knowledge base, gives more appropriate results, as expected from the maximum entropy principle. We use a simple illustration to show this approach giving more intuitive results, and use simulations to compare the approaches in terms of the prediction errors. The simulations show that the BME method with the logarithmic moments in the general knowledge base reduces the errors, and we conclude that this approach is more suitable to incorporate soft data in a spatial analysis for lognormal data.     

Regional flood frequency analysis using residual kriging in physiographical space

In this article, an approach using residual kriging (RK) in physiographical space is proposed for regional flood frequency analysis. The physiographical space is constructed using physiographical/climatic characteristics of gauging basins by means of canonical correlation analysis (CCA). This approach is a modified version of the original method, based on ordinary kriging (OK). It is intended to handle effectively any possible spatial trends within the hydrological variables over the physiographical space. In this approach, the trend is first quantified and removed from the hydrological variable by a quadratic spatial regression. OK is therefore applied to the regression residual values. The final estimated value of a specific quantile at an ungauged station is the sum of the spatial regression estimate and the kriged residual. To evaluate the performance of the proposed method, a cross‐validation procedure is applied. Results of the proposed method indicate that RK in CCA physiographical space leads to more efficient estimates of regional flood quantiles when compared to the original approach and to a straightforward regression‐based estimator. Copyright © 2010 John Wiley & Sons, Ltd.     

Semiparametric regression models for spatial prediction and uncertainty quantification of soil attributes

In many studies, the distribution of soil attributes depends on both spatial location and environmental factors, and prediction and process identification are performed using existing methods such as kriging. However, it is often too restrictive to model soil attributes as dependent on a known, parametric function of environmental factors, which kriging typically assumes. This paper investigates a semiparametric approach for identifying and modeling the nonlinear relationships of spatially dependent soil constituent levels with environmental variables and obtaining point and interval predictions over a spatial region. Frequentist and Bayesian versions of the proposed method are applied to measured soil nitrogen levels throughout Florida, USA and are compared to competing models, including frequentist and Bayesian kriging, based an array of point and interval measures of out-of-sample forecast quality. The semiparametric models outperformed competing models in all cases. Bayesian semiparametric models yielded the best predictive results and provided empirical coverage probability nearly equal to nominal.     

A new approach to spatial data interpolation using higher-order statistics

Interpolation techniques for spatial data have been applied frequently in various fields of geosciences. Although most conventional interpolation methods assume that it is sufficient to use first- and second-order statistics to characterize random fields, researchers have now realized that these methods cannot always provide reliable interpolation results, since geological and environmental phenomena tend to be very complex, presenting non-Gaussian distribution and/or non-linear inter-variable relationship. This paper proposes a new approach to the interpolation of spatial data, which can be applied with great flexibility. Suitable cross-variable higher-order spatial statistics are developed to measure the spatial relationship between the random variable at an unsampled location and those in its neighbourhood. Given the computed cross-variable higher-order spatial statistics, the conditional probability density function is approximated via polynomial expansions, which is then utilized to determine the interpolated value at the unsampled location as an expectation. In addition, the uncertainty associated with the interpolation is quantified by constructing prediction intervals of interpolated values. The proposed method is applied to a mineral deposit dataset, and the results demonstrate that it outperforms kriging methods in uncertainty quantification. The introduction of the cross-variable higher-order spatial statistics noticeably improves the quality of the interpolation since it enriches the information that can be extracted from the observed data, and this benefit is substantial when working with data that are sparse or have non-trivial dependence structures.     

Interpolations of groundwater table elevation in dissected uplands

The variable elevation of the groundwater table in the St. Louis area was estimated using multiple linear regression (MLR), ordinary kriging, and cokriging as part of a regional program seeking to assess liquefaction potential. Surface water features were used to determine the minimum water table for MLR and supplement the principal variables for ordinary kriging and cokriging. By evaluating the known depth to the water and the minimum water table elevation, the MLR analysis approximates the groundwater elevation for a contiguous hydrologic system. Ordinary kriging and cokriging estimate values in unsampled areas by calculating the spatial relationships between the unsampled and sampled locations. In this study, ordinary kriging did not incorporate topographic variations as an independent variable, while cokriging included topography as a supporting covariable. Cross validation suggests that cokriging provides a more reliable estimate at known data points with less uncertainty than the other methods. Profiles extending through the dissected uplands terrain suggest that: (1) the groundwater table generated by MLR mimics the ground surface and elicits a exaggerated interpolation of groundwater elevation; (2) the groundwater table estimated by ordinary kriging tends to ignore local topography and exhibits oversmoothing of the actual undulations in the water table; and (3) cokriging appears to give the realistic water surface, which rises and falls in proportion to the overlying topography. The authors concluded that cokriging provided the most realistic estimate of the groundwater surface, which is the key variable in assessing soil liquefaction potential in unconsolidated sediments.     

Defining probability of saturation with indicator kriging on hard and soft data

In humid, well-vegetated areas, such as in the northeastern US, runoff is most commonly generated from relatively small portions of the landscape becoming completely saturated, however, little is known about the spatial and temporal behavior of these saturated regions. Indicator kriging provides a way to use traditional water table data to quantify probability of saturation to evaluate predicted spatial distributions of runoff generation risk, especially for the new generation of water quality models incorporating saturation excess runoff theory. When spatial measurements of a variable are transformed to binary indicators (i.e., 1 if above a given threshold value and 0 if below) and the resulting indicator semivariogram is modeled, indicator kriging produces the probability of the measured variable to exceed the threshold value. Indicator kriging gives quantified probability of saturation or, consistent with saturation excess runoff theory, runoff generation risk with depth to water table as the variable and the threshold set near the soil surface. The probability of saturation for a 120 m × 180 m hillslope based upon 43 measurements of depth to water table is investigated with indicator semivariograms for six storm events. The indicator semivariograms show high spatial structure in saturated regions with large antecedent rainfall conditions. The temporal structure of the data is used to generate interpolated (soft) data to supplement measured (hard) data. This improved the spatial structure of the indicator semivariograms for lower antecedent rainfall conditions. Probability of saturation was evaluated through indicator kriging incorporating soft data showing, based on this preliminary study, highly connected regions of saturation as expected for the wet season (April through May) in the Catskill Mountain region of New York State. Supplementation of hard data with soft data incorporates physical hydrology of the hillslope to capture significant patterns not available when using hard data alone for indicator kriging. With the need for water quality models incorporating appropriate runoff generation risk estimates on the rise, this manner of data will lay the groundwork for future model evaluation and development.     

Improving kriging of groundwater level data using nonlinear normalizing transformations—a field application

Abstract

The present research study investigates the application of nonlinear normalizing data transformations in conjunction with ordinary kriging (OK) for the accurate prediction of groundwater level spatial variability in a sparsely-gauged basin. We investigate three established normalizing methods, Gaussian anamorphosis, trans-Gaussian kriging and the Box-Cox method to improve the estimation accuracy. The first two are applied for the first time to groundwater level data. All three methods improve the mean absolute prediction error compared to the application of OK to the non-transformed data. In addition, a modified Box-Cox transformation is proposed and applied to normalize the hydraulic heads. The modified Box-Cox transformation in conjunction with OK is found to be the optimal spatial model based on leave-one-out cross-validation. The recently established Spartan semivariogram family provides the optimal model fit to the transformed data. Finally, we present maps of the groundwater level and the kriging variance based on the optimal spatial model.

Editor D. Koutsoyiannis; Associate editor A. Montanari

Citation Varouchakis, E.A., Hristopoulos, D.T., and Karatzas, G.P., 2012. Improving kriging of groundwater level data using nonlinear normalizing transformations—a field application. Hydrological Sciences Journal, 57 (7), 1404–1419.     

Cokriging for enhanced spatial interpolation of rainfall in two Australian catchments

Rainfall data in continuous space provide an essential input for most hydrological and water resources planning studies. Spatial distribution of rainfall is usually estimated using ground‐based point rainfall data from sparsely positioned rain‐gauge stations in a rain‐gauge network. Kriging has become a widely used interpolation method to estimate the spatial distribution of climate variables including rainfall. The objective of this study is to evaluate three geostatistical (ordinary kriging [OK], ordinary cokriging [OCK], kriging with an external drift [KED]), and two deterministic (inverse distance weighting, radial basis function) interpolation methods for enhanced spatial interpolation of monthly rainfall in the Middle Yarra River catchment and the Ovens River catchment in Victoria, Australia. Historical rainfall records from existing rain‐gauge stations of the catchments during 1980–2012 period are used for the analysis. A digital elevation model of each catchment is used as the supplementary information in addition to rainfall for the OCK and kriging with an external drift methods. The prediction performance of the adopted interpolation methods is assessed through cross‐validation. Results indicate that the geostatistical methods outperform the deterministic methods for spatial interpolation of rainfall. Results also indicate that among the geostatistical methods, the OCK method is found to be the best interpolator for estimating spatial rainfall distribution in both the catchments with the lowest prediction error between the observed and estimated monthly rainfall. Thus, this study demonstrates that the use of elevation as an auxiliary variable in addition to rainfall data in the geostatistical framework can significantly enhance the estimation of rainfall over a catchment.     

Accounting for the uncertainty in the local mean in spatial prediction by Bayesian Maximum Entropy

Bayesian Maximum Entropy (BME) has been successfully used in geostatistics to calculate predictions of spatial variables given some general knowledge base and sets of hard (precise) and soft (imprecise) data. This general knowledge base commonly consists of the means at each of the locations considered in the analysis, and the covariances between these locations. When the means are not known, the standard practice is to estimate them from the data; this is done by either generalized least squares or maximum likelihood. The BME prediction then treats these estimates as the general knowledge means, and ignores their uncertainty. In this paper we develop a prediction that is based on the BME method that can be used when the general knowledge consists of the covariance model only. This prediction incorporates the uncertainty in the estimated local mean. We show that in some special cases our prediction is equal to results from classical geostatistics. We investigate the differences between our approach and the standard approach for predicting in this common practical situation.     

A kriging approach based on Aitchison geometry for the characterization of particle-size curves in heterogeneous aquifers

We consider the problem of predicting the spatial field of particle-size curves (PSCs) from a sample observed at a finite set of locations within an alluvial aquifer near the city of Tübingen, Germany. We interpret PSCs as cumulative distribution functions and their derivatives as probability density functions. We thus (a) embed the available data into an infinite-dimensional Hilbert Space of compositional functions endowed with the Aitchison geometry and (b) develop new geostatistical methods for the analysis of spatially dependent functional compositional data. This approach enables one to provide predictions at unsampled locations for these types of data, which are commonly available in hydrogeological applications, together with a quantification of the associated uncertainty. The proposed functional compositional kriging (FCK) predictor is tested on a one-dimensional application relying on a set of 60 PSCs collected along a 5-m deep borehole at the test site. The quality of FCK predictions of PSCs is evaluated through leave-one-out cross-validation on the available data, smoothed by means of Bernstein Polynomials. A comparison of estimates of hydraulic conductivity obtained via our FCK approach against those rendered by classical kriging of effective particle diameters (i.e., quantiles of the PSCs) is provided. Unlike traditional approaches, our method fully exploits the functional form of PSCs and enables one to project the complete information content embedded in the PSC to unsampled locations in the system.     

Selecting best mapping strategies for storm runoff modeling in a mountainous semi‐arid area

Accurate runoff and soil erosion modeling is constrained by data availability, particularly for physically based models such as OpenLISEM that are data demanding, as the processes are calculated on a cell‐by‐cell basis. The first decision when using such models is to select mapping units that best reflect the spatial variability of the soil and hydraulic properties in the catchment. In environments with limited data, available maps are usually generic, with large units that may lump together the values of the soil properties, affecting the spatial patterns of the predictions and output values in the outlet. Conversely, the output results may be equally acceptable, following the principle of equifinality. To studyhow the mapping method selected affects the model outputs, four types of input maps with different degrees of complexity were created: average values allocated to general soil map units (ASG1), average values allocated to detailed map units (ASG2), values interpolated by ordinary kriging (OK) and interpolated by kriging with external drift (KED). The study area was Ribeira Seca, a 90 km² catchment located in Santiago Island, Cape Verde (West Africa), a semi‐arid country subject to scarce but extreme rainfall during the short tropical summer monsoon. To evaluate the influence of rainfall on runoff and erosion, two storm events with different intensity and duration were considered. OK and KED inputs produced similar results, with the latter being closer to the observed hydrographs. The highest soil losses were obtained with KED (43 ton ha^{? 1} for the strongest event). To improve the results of soil loss predictions, higher accurate spatial information on the processes is needed; however, spatial information of input soil properties alone is not enough in complex landscapes. The results demonstrate the importance of selecting the appropriate mapping strategy to obtain reliable runoff and erosion estimates. Copyright © 2013 John Wiley & Sons, Ltd.     

Geostatistical radar–raingauge merging: A novel method for the quantification of rain estimation accuracy

Compared to other estimation techniques, one advantage of geostatistical techniques is that they provide an index of the estimation accuracy of the variable of interest with the kriging estimation standard deviation (ESD). In the context of radar–raingauge quantitative precipitation estimation (QPE), we address in this article the question of how the kriging ESD can be transformed into a local spread of error by using the dependency of radar errors to the rain amount analyzed in previous work. The proposed approach is implemented for the most significant rain events observed in 2008 in the Cévennes-Vivarais region, France, by considering both the kriging with external drift (KED) and the ordinary kriging (OK) methods. A two-step procedure is implemented for estimating the rain estimation accuracy: (i) first kriging normalized ESDs are computed by using normalized variograms (sill equal to 1) to account for the observation system configuration and the spatial structure of the variable of interest (rainfall amount, residuals to the drift); (ii) based on the assumption of a linear relationship between the standard deviation and the mean of the variable of interest, a denormalization of the kriging ESDs is performed globally for a given rain event by using a cross-validation procedure. Despite the fact that the KED normalized ESDs are usually greater than the OK ones (due to an additional constraint in the kriging system and a weaker spatial structure of the residuals to the drift), the KED denormalized ESDs are generally smaller the OK ones, a result consistent with the better performance observed for the KED technique. The evolution of the mean and the standard deviation of the rainfall-scaled ESDs over a range of spatial (5–300 km²) and temporal (1–6 h) scales demonstrates that there is clear added value of the radar with respect to the raingauge network for the shortest scales, which are those of interest for flash-flood prediction in the considered region.     

Test of statistical means for the extrapolation of soil depth point information using overlays of spatial environmental data and bootstrapping techniques

Hydrological modelling depends highly on the accuracy and uncertainty of model input parameters such as soil properties. Since most of these data are field surveyed, geostatistical techniques such as kriging, classification and regression trees or more sophisticated soil‐landscape models need to be applied to interpolate point information to the area. Most of the existing interpolation techniques require a random or regular distribution of points within the study area but are not adequate to satisfactorily interpolate soil catena or transect data. The soil landscape model presented in this study is predicting soil information from transect or catena point data using a statistical mean (arithmetic, geometric and harmonic mean) to calculate the soil information based on class means of merged spatial explanatory variables. A data set of 226 soil depth measurements covering a range of 0–6·5 m was used to test the model. The point data were sampled along four transects in the Stubbetorp catchment, SE‐Sweden. We overlaid a geomorphology map (8 classes) with digital elevation model‐derived topographic index maps (2–9 classes) to estimate the range of error the model produces with changing sample size and input maps. The accuracy of the soil depth predictions was estimated with the root mean square error (RMSE) based on a testing and training data set. RMSE ranged generally between 0·73 and 0·83 m ± 0·013 m depending on the amount of classes the merged layers had, but were smallest for a map combination with a low number of classes predicted with the harmonic mean (RMSE = 0·46 m). The results show that the prediction accuracy of this method depends on the number of point values in the sample, the value range of the measured attribute and the initial correlations between point values and explanatory variables, but suggests that the model approach is in general scale invariant. Copyright © 2009 John Wiley & Sons, Ltd.     

Conditional bias-penalized kriging (CBPK)

Simple and ordinary kriging, or SK and OK, respectively, represent the best linear unbiased estimator in the unconditional sense in that they minimize the unconditional (on the unknown truth) error variance and are unbiased in the unconditional mean. However, because the above properties hold only in the unconditional sense, kriging estimates are generally subject to conditional biases that, depending on the application, may be unacceptably large. For example, when used for precipitation estimation using rain gauge data, kriging tends to significantly underestimate large precipitation and, albeit less consequentially, overestimate small precipitation. In this work, we describe an extremely simple extension to SK or OK, referred to herein as conditional bias-penalized kriging (CBPK), which minimizes conditional bias in addition to unconditional error variance. For comparative evaluation of CBPK, we carried out numerical experiments in which normal and lognormal random fields of varying spatial correlation scale and rain gauge network density are synthetically generated, and the kriging estimates are cross-validated. For generalization and potential application in other optimal estimation techniques, we also derive CBPK in the framework of classical optimal linear estimation theory.