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.     

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.     

Root-zone soil moisture estimation from assimilation of downscaled Soil Moisture and Ocean Salinity data

The crucial role of root-zone soil moisture is widely recognized in land–atmosphere interaction, with direct practical use in hydrology, agriculture and meteorology. But it is difficult to estimate the root-zone soil moisture accurately because of its space-time variability and its nonlinear relationship with surface soil moisture. Typically, direct satellite observations at the surface are extended to estimate the root-zone soil moisture through data assimilation. But the results suffer from low spatial resolution of the satellite observation. While advances have been made recently to downscale the satellite soil moisture from Soil Moisture and Ocean Salinity (SMOS) mission using methods such as the Disaggregation based on Physical And Theoretical scale Change (DisPATCh), the assimilation of such data into high spatial resolution land surface models has not been examined to estimate the root-zone soil moisture. Consequently, this study assimilates the 1-km DisPATCh surface soil moisture into the Joint UK Land Environment Simulator (JULES) to better estimate the root-zone soil moisture. The assimilation is demonstrated using the advanced Evolutionary Data Assimilation (EDA) procedure for the Yanco area in south eastern Australia. When evaluated using in-situ OzNet soil moisture, the open loop was found to be 95% as accurate as the updated output, with the updated estimate improving the DisPATCh data by 14%, all based on the root mean square error (RMSE). Evaluation of the root-zone soil moisture with in-situ OzNet data found the updated output to improve the open loop estimate by 34% for the 0–30 cm soil depth, 59% for the 30–60 cm soil depth, and 63% for the 60–90 cm soil depth, based on RMSE. The increased performance of the updated output over the open loop estimate is associated with (i) consistent estimation accuracy across the three soil depths for the updated output, and (ii) the deterioration of the open loop output for deeper soil depths. Thus, the findings point to a combined positive impact from the DisPATCh data and the EDA procedure, which together provide an improved soil moisture with consistent accuracy both at the surface and at the root-zone.     

Improvement of TOPLATS‐based discharge predictions through assimilation of ERS‐based remotely sensed soil moisture values

In this paper, we investigate the possibility to improve discharge predictions from a lumped hydrological model through assimilation of remotely sensed soil moisture values. Therefore, an algorithm to estimate surface soil moisture values through active microwave remote sensing is developed, bypassing the need to collect in situ ground parameters. The algorithm to estimate soil moisture by use of radar data combines a physically based and an empirical back‐scatter model. This method estimates effective soil roughness parameters, and good estimates of surface soil moisture are provided for bare soils. These remotely sensed soil moisture values over bare soils are then assimilated into a hydrological model using the statistical correction method. The results suggest that it is possible to determine soil moisture values over bare soils from remote sensing observations without the need to collect ground truth data, and that there is potential to improve model‐based discharge predictions through assimilation of these remotely sensed soil moisture values. Copyright © 2002 John Wiley & Sons, Ltd.     

Assimilation of streamflow and in situ soil moisture data into operational distributed hydrologic models: Effects of uncertainties in the data and initial model soil moisture states

We assess the potential of updating soil moisture states of a distributed hydrologic model by assimilating streamflow and in situ soil moisture data for high-resolution analysis and prediction of streamflow and soil moisture. The model used is the gridded Sacramento (SAC) and kinematic-wave routing models of the National Weather Service (NWS) Hydrology Laboratory’s Research Distributed Hydrologic Model (HL-RDHM) operating at an hourly time step. The data assimilation (DA) technique used is variational assimilation (VAR). Assimilating streamflow and soil moisture data into distributed hydrologic models is new and particularly challenging due to the large degrees of freedom associated with the inverse problem. This paper reports findings from the first phase of the research in which we assume, among others, perfectly known hydrometeorological forcing. The motivation for the simplification is to reduce the complexity of the problem in favour of improved understanding and easier interpretation even if it may compromise the goodness of the results. To assess the potential, two types of experiments, synthetic and real-world, were carried out for Eldon (ELDO2), a 795-km² headwater catchment located near the Oklahoma (OK) and Arkansas (AR) border in the U.S. The synthetic experiment assesses the upper bound of the performance of the assimilation procedure under the idealized conditions of no structural or parametric errors in the models, a full dynamic range and no microscale variability in the in situ observations of soil moisture, and perfectly known univariate statistics of the observational errors. The results show that assimilating in situ soil moisture data in addition to streamflow data significantly improves analysis and prediction of soil moisture and streamflow, and that assimilating streamflow observations at interior locations in addition to those at the outlet improves analysis and prediction of soil moisture within the drainage areas of the interior stream gauges and of streamflow at downstream cells along the channel network. To assess performance under more realistic conditions, but still under the assumption of perfectly known hydrometeorological forcing to allow comparisons with the synthetic experiment, an exploratory real-world experiment was carried out in which all other assumptions were lifted. The results show that, expectedly, assimilating interior flows in addition to outlet flow improves analysis as well as prediction of streamflow at stream gauge locations, but that assimilating in situ soil moisture data in addition to streamflow data provides little improvement in streamflow analysis and prediction though it reduces systematic biases in soil moisture simulation.     

Improving soil moisture accounting and streamflow prediction in SWAT by incorporating a modified time‐dependent Curve Number method

The objective of this study is to incorporate a time‐dependent Soil Moisture Accounting (SMA) based Curve Number method (SMA_CN) in Soil and Water Assessment Tool (SWAT) and compare its performance with the existing CN method in SWAT by simulating the hydrology of two agricultural watersheds in Indiana, USA. Results show that fusion of the SMA_CN method causes decrease in runoff volume and increase in profile soil moisture content, associated with larger groundwater contribution to the streamflow. In addition, the higher amount of moisture in the soil profile slightly elevates the actual evapotranspiration. The SMA‐based SWAT configuration consistently produces improved goodness‐of‐fit scores and less uncertain outputs with respect to streamflow during both calibration and validation. The SMA_CN method exhibits a better match with the observed data for all flow regimes, thereby addressing issues related to peak and low flow predictions by SWAT in many past studies. Comparison of the calibrated model outputs with field‐scale soil moisture observations reveals that the SMA overhauling enables SWAT to represent soil moisture condition more accurately, with better response to the incident rainfall dynamics. While the results from the modification of the CN method in SWAT are promising, more studies including watersheds with various physical and climatic settings are needed to validate the proposed approach. Copyright © 2015 John Wiley & Sons, Ltd.     

Improving the estimation of hydrological states in the SWAT model via the ensemble Kalman smoother: Synthetic experiments for the Heihe River Basin in northwest China

Data assimilation as a method to predict variables, reduce uncertainties and explicitly handle various sources of uncertainties has recently received widespread attention and has been utilized to combine in situ and remotely sensed measurements with hydrological models. However, factors that significantly influence the capability of data assimilation still need testing and verifying. In this paper, synthetic surface soil moisture data are assimilated into the Soil and Water Assessment Tool (SWAT) model to evaluate their impact on other hydrological variables via the ensemble Kalman smoother (EnKS), using data from the Heihe River Basin, northwest China. The results show that the assimilation of surface soil moisture can moderately improve estimates of deep layer soil moisture, surface runoff and lateral flow, which reduces the negative influences of erroneous forcing and inaccurate parameters. The effects of the spatially heterogeneous input data (land cover and soil type) on the performance of the data assimilation technique are noteworthy. Moreover, the approaches including inflation and localization are specifically diagnosed to further extend the capability of the EnKS.     

Assimilation of hydrologic and hydrometeorological data into distributed hydrologic model: Effect of adjusting mean field bias in radar-based precipitation estimates

This paper investigates the effect of adjusting the mean field bias (MFB) in radar-based precipitation data on analysis and prediction of streamflow and soil moisture in assimilating streamflow or streamflow and in situ soil moisture data into distributed hydrologic models. To evaluate the effect of adjusting the MFB under realistic as well as idealized conditions, both real-world and synthetic experiments are carried out for the Eldon Catchment on the border of Oklahoma and Arkansas in the US. In the synthetic experiment, the MFB is modeled as a stationary Markov chain process. The synthetic experiment showed that adjusting the MFB in the assimilation process significantly improves streamflow analysis when the initial conditions are known with reasonable certainty, and that assimilating soil moisture in addition to streamflow improves analysis of streamflow as well as soil moisture if the initial conditions are largely uncertain. Adjusting the MFB during the assimilation process noticeably improved streamflow analysis over ranges of the MFB and random noise in the precipitation data. On the other hand, increasing the MFB and random noise in the precipitation data tended to degrade soil moisture analysis due possibly to over-adjusting soil moisture to mitigate the precipitation error. The real-world experiment with one-year dataset showed that adjusting the MFB during the assimilation process helped capture the peak as well as volume of outlet flow analysis as well as prediction, and that additionally assimilating interior flow observations was necessary to improve analysis and prediction of peak flows at interior locations.     

One-dimensional soil moisture profile retrieval by assimilation of near-surface observations: a comparison of retrieval algorithms

This paper investigates the ability to retrieve the true soil moisture and temperature profiles by assimilating near-surface soil moisture and surface temperature data into a soil moisture and heat transfer model. The direct insertion and Kalman filter assimilation schemes have been used most frequently in assimilation studies, but no comparisons of these schemes have been made. This study investigates which of these approaches is able to retrieve the soil moisture and temperature profiles the fastest, over what depth soil moisture observations are required, and the effect of update interval on profile retrieval. These questions are addressed by a desktop study using synthetic data. The study shows that the Kalman filter assimilation scheme is superior to the direct insertion assimilation scheme, with retrieval of the soil moisture profile being achieved in 12 h as compared to 8 days or more, depending on observation depth, for hourly observations. It was also found that profile retrieval could not be realised for direct insertion of the surface node alone, and that observation depth does not have a significant effect on profile retrieval time for the Kalman filter. The observation interval was found to be unimportant for profile retrieval with the Kalman filter when the forcing data is accurate, whilst for direct insertion the continuous Dirichlet boundary condition was required for an increasingly longer period of time. It was also found that the Kalman filter assimilation scheme was less susceptible to unstable updates if volumetric soil moisture was modelled as the dependent state rather than matric head, because the volumetric soil moisture state is more linear in the forecasting model.     

Multi‐variable and multi‐site calibration and validation of SWAT in a large mountainous catchment with high spatial variability

Many methods developed for calibration and validation of physically based distributed hydrological models are time consuming and computationally intensive. Only a small set of input parameters can be optimized, and the optimization often results in unrealistic values. In this study we adopted a multi‐variable and multi‐site approach to calibration and validation of the Soil Water Assessment Tool (SWAT) model for the Motueka catchment, making use of extensive field measurements. Not only were a number of hydrological processes (model components) in a catchment evaluated, but also a number of subcatchments were used in the calibration. The internal variables used were PET, annual water yield, daily streamflow, baseflow, and soil moisture. The study was conducted using an 11‐year historical flow record (1990–2000); 1990–94 was used for calibration and 1995–2000 for validation. SWAT generally predicted well the PET, water yield and daily streamflow. The predicted daily streamflow matched the observed values, with a Nash–Sutcliffe coefficient of 0·78 during calibration and 0·72 during validation. However, values for subcatchments ranged from 0·31 to 0·67 during calibration, and 0·36 to 0·52 during validation. The predicted soil moisture remained wet compared with the measurement. About 50% of the extra soil water storage predicted by the model can be ascribed to overprediction of precipitation; the remaining 50% discrepancy was likely to be a result of poor representation of soil properties. Hydrological compensations in the modelling results are derived from water balances in the various pathways and storage (evaporation, streamflow, surface runoff, soil moisture and groundwater) and the contributions to streamflow from different geographic areas (hill slopes, variable source areas, sub‐basins, and subcatchments). The use of an integrated multi‐variable and multi‐site method improved the model calibration and validation and highlighted the areas and hydrological processes requiring greater calibration effort. Copyright © 2005 John Wiley & Sons, Ltd.     

Intercomparison of the JULES and CABLE land surface models through assimilation of remotely sensed soil moisture in southeast Australia

Numerous land surface models exist for predicting water and energy fluxes in the terrestrial environment. These land surface models have different conceptualizations (i.e., process or physics based), together with structural differences in representing spatial variability, alternate empirical methods, mathematical formulations and computational approach. These inherent differences in modeling approach, and associated variations in outputs make it difficult to compare and contrast land surface models in a straight-forward manner. While model intercomparison studies have been undertaken in the past, leading to significant progress on the improvement of land surface models, additional framework towards identification of model weakness is needed. Given that land surface models are increasingly being integrated with satellite based estimates to improve their prediction skill, it is practical to undertake model intercomparison on the basis of soil moisture data assimilation. Consequently, this study compares two land surface models: the Joint UK Land Environment Simulator (JULES) and the Community Atmosphere Biosphere Land Exchange (CABLE) for soil moisture estimation and associated assessment of model uncertainty. A retrieved soil moisture data set from the Soil Moisture and Ocean Salinity (SMOS) mission was assimilated into both models, with their updated estimates validated against in-situ soil moisture in the Yanco area, Australia. The findings show that the updated estimates from both models generally provided a more accurate estimate of soil moisture than the open loop estimate based on calibration alone. Moreover, the JULES output was found to provide a slightly better estimate of soil moisture than the CABLE output at both near-surface and deeper soil layers. An assessment of the updated membership in decision space also showed that the JULES model had a relatively stable, less sensitive, and more highly convergent internal dynamics than the CABLE model.     

集合资料同化中方差滤波技术研究及试验

本文基于YH4DVAR业务系统构建了集合资料同化试验平台,利用10个集合样本统计得到的流依赖背景误差能显著改进业务应用中背景误差方差的结构和大小.但是受样本数的限制,背景误差方差的集合估计值中引入了大量的随机取样噪声.为了降低噪声对估计值的影响,本文采用谱滤波方法,根据信号和噪声尺度的统计特征构造一个低通滤波器来滤除背景误差方差估计值中的大部分随机取样噪声.在2013年第九号台风"飞燕"的集合方差滤波试验中,10个样本的滤波结果优于30个样本的集合估计值.谱滤波方法的成功应用有效降低了集合资料同化系统对集合样本数的要求,将是集合资料同化系统未来业务化运行的一项不可或缺的关键技术.     

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.     

The Representation of Tropospheric Water Vapor Over Low-Latitude Oceans in (Re-)analysis: Errors,Impacts, and the Ability to Exploit Current and Prospective Observations

This paper addresses the representation of lower tropospheric water vapor in the meteorological analyses—fully detailed estimates of atmospheric state—providing the wide temporal and spatial coverage used in many process studies. Analyses are produced in a cycle combining short forecasts from initial conditions with data assimilation that optimally estimates the state of the atmosphere from the previous forecasts and new observations, providing initial conditions for the next set of forecasts. Estimates of water vapor are among the less certain aspects of the state because the quantity poses special challenges for data assimilation while being particularly sensitive to the details of model parameterizations. Over remote tropical oceans observations of water vapor come from two sources: passive observations at microwave or infrared wavelengths that provide relatively strong constraints over large areas on column-integrated moisture but relatively coarse vertical resolution, and occultations of Global Positioning System provide much higher accuracy and vertical resolution but are relatively spatially coarse. Over low-latitude oceans, experiences with two systems suggest that current analyses reproduce much of the large-scale variability in integrated water vapor but have systematic errors in the representation of the boundary layer with compensating errors in the free troposphere; these errors introduce errors of order 10% in radiative heating rates through the free troposphere. New observations, such as might be obtained by future observing systems, improve the estimates of water vapor but this improvement is lost relatively quickly, suggesting that exploiting better observations will require targeted improvements to global forecast models.     

Radiance data assimilation for operational snow and streamflow forecasting

Estimation of seasonal snowpack, in mountainous regions, is crucial for accurate streamflow prediction. This paper examines the ability of data assimilation (DA) of remotely sensed microwave radiance data to improve snow water equivalent prediction, and ultimately operational streamflow forecasts. Operational streamflow forecasts in the National Weather Service River Forecast Center (NWSRFC) are produced with a coupled SNOW17 (snow model) and SACramento Soil Moisture Accounting (SAC-SMA) model. A comparison of two assimilation techniques, the ensemble Kalman filter (EnKF) and the particle filter (PF), is made using a coupled SNOW17 and the microwave emission model for layered snow pack (MEMLS) model to assimilate microwave radiance data. Microwave radiance data, in the form of brightness temperature (TB), is gathered from the advanced microwave scanning radiometer-earth observing system (AMSR-E) at the 36.5 GHz channel. SWE prediction is validated in a synthetic experiment. The distribution of snowmelt from an experiment with real data is then used to run the SAC-SMA model. Several scenarios on state or joint state-parameter updating with TB data assimilation to SNOW-17 and SAC-SMA models were analyzed, and the results show potential benefit for operational streamflow forecasting.     

Streamflow predictability in the Saskatchewan/Nelson River basin given macroscale estimates of the initial soil moisture status

Abstract

Soil moisture estimates obtained over large spatial areas will become increasingly available through current and upcoming satellite missions and from numerous land surface parameterization schemes run at global- and continental-scale resolutions. The goal of this research was to evaluate the potential for using macroscale estimates of soil moisture for enhancing streamflow forecasts. Towards this research objective, monthly streamflow estimates were obtained from over 50 gauge locations within the Nelson basin, Canada, for the period 1979–1999. For each streamflow record, multiple linear regression models were used to remove components of the streamflow signal related to previous streamflow, climate teleconnections (e.g. ENSO and AO) and snow water equivalence. Correlations were then assessed between the macroscale soil moisture estimates and the residuals of the multiple linear regression analysis over lead times of one, two and three months. At the one- and two-month lead time, statistically significant relationships between soil moisture and the residuals of streamflow are observed over a large proportion of the gauging locations. The number of catchments with statistically significant relationships decreases significantly after two months and particularly in the months of April—June. This study demonstrates that available macroscale estimates of soil moisture have the potential to enhance streamflow prediction, although further study is suggested to improve upon the soil moisture estimates and their application in a forecast system.     

Dual state-parameter estimation of root zone soil moisture by optimal parameter estimation and extended Kalman filter data assimilation

With well-determined hydraulic parameters in a hydrologic model, a traditional data assimilation method (such as the Kalman filter and its extensions) can be used to retrieve root zone soil moisture under uncertain initial state variables (e.g., initial soil moisture content) and good simulated results can be achieved. However, when the key soil hydraulic parameters are incorrect, the error is non-Gaussian, as the Kalman filter will produce a persistent bias in its predictions. In this paper, we propose a method coupling optimal parameters and extended Kalman filter data assimilation (OP-EKF) by combining optimal parameter estimation, the extended Kalman filter (EKF) assimilation method, a particle swarm optimization (PSO) algorithm, and Richards’ equation. We examine the accuracy of estimating root zone soil moisture through the optimal parameters and extended Kalman filter data assimilation method by using observed in situ data at the Meiling experimental station, China. Results indicate that merely using EKF for assimilating surface soil moisture content to obtain soil moisture content in the root zone will produce a persistent bias between simulated and observed values. Using the OP-EKF assimilation method, estimates were clearly improved. If the soil profile is heterogeneous, soil moisture retrieval is accurate in the 0-50 cm soil profile and is inaccurate at 100 cm depth. Results indicate that the method is useful for retrieving root zone soil moisture over large areas and long timescales even when available soil moisture data are limited to the surface layer, and soil moisture content are uncertain and soil hydraulic parameters are incorrect.     

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.     

Regional assimilation of in situ observed soil moisture into the VIC model considering spatial variability

ABSTRACT

In order to improve the soil moisture (SM) modelling capacity, a regional SM assimilation scheme based on an empirical approach considering spatial variability was constructed to assimilate in situ observed SM data into a hydrological model. The daily variable infiltration capacity (VIC) model was built to simulate SM in the Upper Huai River Basin, China, with a resolution of 5 km × 5 km. Through synthetic assimilation experiments and validations, the assimilated SM was evaluated, and the assimilation feedback on evapotranspiration (ET) and streamflow are analysed and discussed. The results show that the assimilation scheme improved the SM modelling capacity, both spatially and temporally. Moreover, the simulated ET was continually affected by changes in SM simulation, and the streamflow predictions were improved after applying the SM assimilation scheme. This study demonstrates the potential value of in situ observations in SM assimilation, and provides valuable ways for improving hydrological simulations.