Improving long-range hydrological forecasts with extended Kalman filters

Abstract

There is a continuing effort to advance the skill of long-range hydrological forecasts to support water resources decision making. The present study investigates the potential of an extended Kalman filter approach to perform supervised training of a recurrent multilayer perceptron (RMLP) to forecast up to 12-month-ahead lake water levels and streamflows in Canada. The performance of the RMLP was compared with the conventional multilayer perceptron (MLP) using suites of diagnostic measures. The results of the forecasting experiment showed that the RMLP model was able to provide a robust modelling framework capable of describing complex dynamics of the hydrological processes, thereby yielding more accurate and realistic forecasts than the MLP model. The performance of the method in the present study is very promising; however, further investigation is required to ascertain the versatility of the approach in characterizing different water resources and environmental problems.

Citation Muluye, G. Y. (2011) Improving long-range hydrological forecasts with extended Kalman filters. Hydrol. Sci. J. 56(7), 1118–1128.     

Rainfall–runoff response and event-based runoff coefficients in a humid area (northwest Spain)

Abstract

The hydrological response of a small agroforestry catchment in northwest Spain (Corbeira catchment, 16 km²) is analysed, with particular focus on rainfall events. Fifty-four rainfall–runoff events, from December 2004 to September 2007, were used to analyse the principal hydrological patterns and show which factors best explain the hydrological response. The nonlinearity between rainfall and runoff showed that the variability in the hydrological response of the catchment was linked to the seasonal dynamics of the rainfall and, to a lesser extent, to evapotranspiration. The runoff coefficient, estimated as the ratio between direct runoff and rainfall volume, on an event basis, was analysed as a function of rainfall characteristics (amount and intensity) and the initial catchment state conditions prior to an event, such as pre-event baseflow and antecedent rainfall index. The results revealed that the hydrological response depends both on the soil humidity conditions at the start of the event and on rainfall amount, whereas rainfall intensity presented only a significant correlation with discharge increment. The antecedent conditions seem to be a key point in runoff production, and they explain much of the response. The hydrographs are characterized by a steep rising limb, a relatively narrow peak discharge and slow recession limb. These data and the observations suggest that the subsurface flow is the dominant runoff process.

Editor Z.W. Kundzewicz; Associate editor T. Wagener

Citation Rodríguez-Blanco, M.L., Taboada-Castro, M.M. and Taboada-Castro, M.T., 2012. Rainfall–runoff response and event-based runoff coefficients in a humid area (northwest Spain). Hydrological Sciences Journal, 57 (3), 445–459.     

Hydrologic evaluation of spatially disaggregated global ensemble rainfall forecasts

A statistic–stochastic multi‐fractal downscaling technique was evaluated from a hydrologic point of view. Ensemble hydrologic forecasts with a time step of 3 h were performed for original and disaggregated ensemble rainfall forecasts issued by the Canadian Global Ensemble Prediction System in its 2009 operational version. This hydro‐meteorological operational forecasting chain was conducted using the hydrological model SWMM5. The model was implemented on a small 6‐km² urban catchment located in the Québec City region. The hydrological evaluation was based on the comparison of forecasted flows to the observed ones, calculating several deterministic and probabilistic scores, and drawing rank histograms and reliability diagrams. Disaggregated products led to a better representation of the ensemble members' dispersion. This disaggregation technique represents an interesting way of bridging the gap between the meteorological models' resolution and the high degree of spatial precision sometimes required by hydrological models in their precipitation representation. Copyright © 2013 John Wiley & Sons, Ltd.     

Graphical tools based on Turc-Budyko plots to detect changes in catchment behaviour

Abstract

This paper aims at revisiting the use of non-dimensional representations for catchment change and model robustness analysis. As well as being helpful for catchment classification according to hydroclimatic conditions, the Turc-Budyko representation enables visualization of temporal changes in these conditions and/or modification of the hydrological behaviour of the catchment. This brings a new perspective to hydrological analysis, different from the classical time series plots, which helps when interpreting catchment functioning with respect to hydroclimatic constraints. These tools do not require statistical analyses of observed series and are therefore very simple to implement. Four case studies are considered here to illustrate the use of the Q/P = f(P/E_p) graph. When combined with the inter-annual Turc-Mezentsev formula, this visual framework enables anticipation of potential difficulties for models based on the same hypotheses, solely using the analysis of observed data.     

An evaluation of a traditional and a neural net modelling approach to flood forecasting for an upland catchment

This study evaluates two (of the many) modelling approaches to flood forecasting for an upland catchment (the River South Tyne at Haydon Bridge, England). The first modelling approach utilizes ‘traditional’ hydrological models. It consists of a rainfall–runoff model (the probability distributed model, or PDM) for flow simulation in the upper catchment. Those flows are then routed to the lower catchment using two kinematic wave (KW) routing models. When run in forecast‐mode, the PDM and KW models utilize model updating procedures. The second modelling approach uses neural network models, which use a ‘pattern‐matching’ process to produce model forecasts.Following calibration, the models are evaluated in terms of their fit to continuous stage data and flood event magnitudes and timings within a validation period. Forecast times of 1 h, 2 h and 4 h are selected (the catchment has a response time of approximately 4 h). The ‘traditional’ models generally perform adequately at all three forecast times. The neural networks produce reasonable forecasts of small‐ to medium‐sized flood events but have difficulty in forecasting the magnitude of the larger flood events in the validation period. Possible modifications to the latter approach are discussed. © Crown copyright 2002. Reproduced with the permission of Her Majesty's stationery office. Published by John Wiley & Sons, Ltd.     

Probabilistic forecasting of hydrological events using geostatistical analysis / Prévision probabiliste d'événements hydrologiques par analyse géostatistique

Abstract

A method is introduced for probabilistic forecasting of hydrological events based on geostatistical analysis. In this method, the predictors of a hydrological variable define a virtual field such that, in this field, the observed dependent variables are considered as measurement points. Variography of the measurement points enables the use of the system of kriging equations to estimate the value of the variable at non-measured locations of the field. Non-measured points are the forecasts associated with specific predictors. Calculation of the estimation variance facilitates probabilistic analysis of the forecast variables. The method is applied to case studies of the Red River in Manitoba, Canada and Karoon River in Khoozestan, Iran. The study analyses the advantages and limitations of the proposed method in comparison with a K-nearest neighbour approach and linear and nonlinear multiple regression. The utility of the proposed method for forecasting hydrological variables with a conditional probability distribution is demonstrated.     

Integration of remote sensing data into hydrological models for reservoir management

Abstract

The purpose of this paper is to present the methodology set up to derive catchment soil moisture from Earth Observation (EO) data using microwave spaceborne Synthetic Aperture Radar (SAR) images from ERS satellites and to study the improvements brought about by an assimilation of this information into hydrological models. The methodology used to derive EO data is based on the appropriate selection of land cover types for which the radar signal is mainly sensitive to soil moisture variations. Then a hydrological model is chosen, which can take advantage of the new information brought by remote sensing. The assimilation of soil moisture deduced from EO data into hydrological models is based principally on model parameter updating. The main assumption of this method is that the better the model simulates the current hydrological system, the better the following forecast will be. Another methodology used is a sequential one based on Kalman filtering. These methods have been put forward for use in the European AIMWATER project on the Seine catchment upstream of Paris (France) where dams are operated to alleviate floods in the Paris area.     

Temporal variability in hydrological response within a small catchment with badland areas,central Pyrenees

Abstract

The lower Araguás catchment, central Pyrenees, is characterized by extensive badlands (25% of the total catchment), whereas the upper catchment is covered by dense plantation forest. The catchment (45 ha) has been monitored since October 2005 with the aim of studying its hydrological response. The 44 floods recorded over this period were analysed to identify the factors that control the rainfall—runoff relationship. The first relevant feature of the catchment was its responsiveness. The catchment reacted to all rainfall events, but the irregular nature of the hydrological response was the most characteristic feature of the response. No single variable could explain the response of the Araguás catchment. It was found that stormflow coefficients mainly depend on the combination of rainfall volume and antecedent baseflow. A significant correlation was observed between maximum rainfall intensity and peak flow values. The shapes of the different hydrographs are very similar, regardless of the peak flow magnitude; they show a short time lag, relatively narrow peak flow, and steep recession limb. This indicates a large contribution by overland flow, resulting mainly from the generation of infiltration excess runoff in badland areas.     

Flood simulation using different sources of rainfall in the Huong River,Vietnam / Simulation d'inondation à l'aide de différentes sources d'information pluviométrique dans le bassin de la Rivière Huong,Vietnam

Abstract

The possibility of simulating flooding in the Huong River basin, Vietnam, was examined using quantitative precipitation forecasts at regional and global scales. Raingauge and satellite products were used for observed rainfall. To make maximum use of the spatial heterogeneity of the different types of rainfall data, a distributed hydrological model was set up to represent the hydrological processes. In this way, streamflow simulated using the rainfall data was compared with that observed in situ. The forecast on a global scale showed better performance during normal flow peak simulations than during extreme events. In contrast, it was found that during an extreme flood peak, the use of regional forecasts and satellite data gives results that are in close agreement with results using raingauge data. Using the simulated overflow volumes recorded at the control point downstream, inundation areas were then estimated using topographic characteristics. This study is the first step in developing a future efficient early warning system and evacuation strategy.     

An evaluation of numerical weather prediction based rainfall forecasts

ABSTRACT

Assessment of forecast precipitation is required before it can be used as input to hydrological models. Using radar observations in southeastern Australia, forecast rainfall from the Australian Community Climate Earth-System Simulator (ACCESS) was evaluated for 2010 and 2011. Radar rain intensities were first calibrated to gauge rainfall data from four research rainfall stations at hourly time steps. It is shown that the Australian ACCESS model (ACCESS-A) overestimated rainfall in low precipitation areas and underestimated elevated accumulations in high rainfall areas. The forecast errors were found to be dependent on the rainfall magnitude. Since the cumulative rainfall observations varied across the area and through the year, the relative error (RE) in the forecasts varied considerably with space and time, such that there was no consistent bias across the study area. Moreover, further analysis indicated that both location and magnitude errors were the main sources of forecast uncertainties on hourly accumulations, while magnitude was the dominant error on the daily time scale. Consequently, the precipitation output from ACCESS-A may not be useful for direct application in hydrological modelling, and pre-processing approaches such as bias correction or exceedance probability correction will likely be necessary for application of the numerical weather prediction (NWP) outputs.

EDITOR M.C. Acreman ASSOCIATE EDITOR A. Viglione     

Geochemical evidence for peat bog contribution to the streamflow generation process: case study of the Vltava River headwaters,Czech Republic

ABSTRACT

A geochemical approach using stable oxygen isotopes was used to understand streamflow generation processes in the highly peaty catchment of the Rokytka Brook in the headwaters of the Vltava River, Czech Republic. The contribution of water from peat bog areas to the total surface runoff was assessed using a hydrological time series, as well as geochemical, hydrochemical and isotope-hydrological approaches for unit hydrogram separation by means of anion deficiency. Using data from the hydrological year 2008, the role of an existing peat bog in the runoff formation dynamics of the Rokytka Brook catchment was determined, and the hydrological cycle was described and assessed using stable ¹⁸O/¹⁶O isotopes. The research findings strongly support the fact that peatland areas within the studied catchment do not significantly communicate hydraulically with surface streams, and their hydrological function in this region is insignificant.

Editor M. C. Acreman; Associate editor not assigned     

Probabilistic flood forecasting for a mountainous headwater catchment using a nonparametric stochastic dynamic approach

Abstract

Hydrological models are commonly used to perform real-time runoff forecasting for flood warning. Their application requires catchment characteristics and precipitation series that are not always available. An alternative approach is nonparametric modelling based only on runoff series. However, the following questions arise: Can nonparametric models show reliable forecasting? Can they perform as reliably as hydrological models? We performed probabilistic forecasting one, two and three hours ahead for a runoff series, with the aim of ascribing a probability density function to predicted discharge using time series analysis based on stochastic dynamics theory. The derived dynamic terms were compared to a hydrological model, LARSIM. Our procedure was able to forecast within 95% confidence interval 1-, 2- and 3-h ahead discharge probability functions with about 1.40 m³/s of range and relative errors (%) in the range [–30; 30]. The LARSIM model and the best nonparametric approaches gave similar results, but the range of relative errors was larger for the nonparametric approaches.

Editor D. Koutsoyiannis; Associate editor K. Hamed

Citation Costa, A.C., Bronstert, A. and Kneis, D., 2012. Probabilistic flood forecasting for a mountainous headwater catchment using a nonparametric stochastic dynamic approach. Hydrological Sciences Journal, 57 (1), 10–25.     

Climate models and hydrological parameter uncertainties in climate change impacts on monthly runoff and daily flow duration curve of a Mediterranean catchment

ABSTRACT

Climate models and hydrological parameter uncertainties were quantified and compared while assessing climate change impacts on monthly runoff and daily flow duration curve (FDC) in a Mediterranean catchment. Simulations of the Soil and Water Assessment Tool (SWAT) model using an ensemble of behavioural parameter sets derived from the Generalized Likelihood Uncertainty Estimation (GLUE) method were approximated by feed-forward artificial neural networks (FF-NN). Then, outputs of climate models were used as inputs to the FF-NN models. Subsequently, projected changes in runoff and FDC were calculated and their associated uncertainty was partitioned into climate model and hydrological parameter uncertainties. Runoff and daily discharge of the Chiba catchment were expected to decrease in response to drier and warmer climatic conditions in the 2050s. For both hydrological indicators, uncertainty magnitude increased when moving from dry to wet periods. The decomposition of uncertainty demonstrated that climate model uncertainty dominated hydrological parameter uncertainty in wet periods, whereas in dry periods hydrological parametric uncertainty became more important.

Editor M.C. Acreman; Associate editor S. Kanae     

A hillslope-based hydrological model using catchment area and width functions

Abstract

A flow-interval hillslope discretization scheme is proposed for catchment hydrological modelling. By this scheme, a two-dimensional catchment is simplified into a one-dimensional cascade of flow intervals linked by the main stream. Each flow interval comprises a set of parallel hillslopes. The hillslope is the fundamental computational unit in the hydrological model providing lateral inflow to the main stream. The size of hillslope is determined by the catchment area and width functions. Catchment runoff is the total of hillslope responses through the river routing. Tests in four Japanese catchments showed that the model performed well on simulating the overall water balance, general flow pattern, and daily and hourly hydrographs of a whole catchment, as well as simultaneous simulation in different subcatchments. Characteristics of catchment hydrological responses and model applicability are discussed.     

Hydrological Sciences Journal Contents 2002

Abstract

Flood frequency estimation is crucial in both engineering practice and hydrological research. Regional analysis of flood peak discharges is used for more accurate estimates of flood quantiles in ungauged or poorly gauged catchments. This is based on the identification of homogeneous zones, where the probability distribution of annual maximum peak flows is invariant, except for a scale factor represented by an index flood. The numerous applications of this method have highlighted obtaining accurate estimates of index flood as a critical step, especially in ungauged or poorly gauged sections, where direct estimation by sample mean of annual flood series (AFS) is not possible, or inaccurate. Therein indirect methods have to be used. Most indirect methods are based upon empirical relationships that link index flood to hydrological, climatological and morphological catchment characteristics, developed by means of multi-regression analysis, or simplified lumped representation of rainfall–runoff processes. The limits of these approaches are increasingly evident as the size and spatial variability of the catchment increases. In these cases, the use of a spatially-distributed, physically-based hydrological model, and time continuous simulation of discharge can improve estimation of the index flood. This work presents an application of the FEST-WB model for the reconstruction of 29 years of hourly streamflows for an Alpine snow-fed catchment in northern Italy, to be used for index flood estimation. To extend the length of the simulated discharge time series, meteorological forcings given by daily precipitation and temperature at ground automatic weather stations are disaggregated hourly, and then fed to FEST-WB. The accuracy of the method in estimating index flood depending upon length of the simulated series is discussed, and suggestions for use of the methodology provided.

Editor D. Koutsoyiannis     

Calibration of a semi-distributed model for conjunctive simulation of surface and groundwater flows / Calage d’un modèle semi-distribué pour la simulation conjointe d’écoulements superficiels et souterrains

Abstract

Abstract A hydrological simulation model was developed for conjunctive representation of surface and groundwater processes. It comprises a conceptual soil moisture accounting module, based on an enhanced version of the Thornthwaite model for the soil moisture reservoir, a Darcian multi-cell groundwater flow module and a module for partitioning water abstractions among water resources. The resulting integrated scheme is highly flexible in the choice of time (i.e. monthly to daily) and space scales (catchment scale, aquifer scale). Model calibration involved successive phases of manual and automatic sessions. For the latter, an innovative optimization method called evolutionary annealing-simplex algorithm is devised. The objective function involves weighted goodness-of-fit criteria for multiple variables with different observation periods, as well as penalty terms for restricting unrealistic water storage trends and deviations from observed intermittency of spring flows. Checks of the unmeasured catchment responses through manually changing parameter bounds guided choosing final parameter sets. The model is applied to the particularly complex Boeoticos Kephisos basin, Greece, where it accurately reproduced the main basin response, i.e. the runoff at its outlet, and also other important components. Emphasis is put on the principle of parsimony which resulted in a computationally effective modelling. This is crucial since the model is to be integrated within a stochastic simulation framework.     

Hydrological behaviour of a drained agricultural peat catchment in the tropics. 1: Rainfall,runoff and water table relationships

Abstract

Hydrological data of a drained tropical peat catchment have been analysed through conventional quantitative hydrological approaches to characterize its hydrological behaviours and changes due to continuous drainage for a long period. The results show that the hydrology of the catchment is extremely dynamic and the catchment is flashy in nature. A decreasing trend in peak flow amount and an increasing trend in baseflow amount was observed in the catchment, indicating that continuous drainage has reduced the risk of both flooding and water scarcity in the catchment. Correlation analysis among rainfall, runoff and groundwater table reveals that saturation excess-near surface flow is the dominant mechanism responsible for rapid runoff generation in the catchment. Therefore, any physical alterations or disturbances to the upper part of the peat profile would definitely affect the overall hydrological behaviour of the peat catchment.

Editor Z.W. Kundzewicz; Associate editor D. Hughes

Citation Katimon, A., Shahid, S., Abd Wahab, A.K., and Ali, M.H., 2013. Hydrological behaviour of a drained agricultural peat catchment in the tropics. Part 1: Rainfall, runoff and water table relationships. Hydrological Sciences Journal, 58 (6), 1297–1309.     

Assessing the skill of the UK Hydrological Outlook

ABSTRACT

The UK Hydrological Outlook (UKHO) is a seasonal forecast of future river flows and groundwater levels. The UKHO contains both presentations of outputs from models simulating future conditions and a high-level summary. The summary is produced by an expert panel of forecasters that considers the model outputs together with other recent hydrological and meteorological information. Whilst the skill and uncertainty of the individual models have been explored and published, this study sets out to establish the performance of the high-level summary, and presents such an assessment of the river flow forecasts at the 1-month timescale. Both qualitative and quantitative assessments are presented and compared with two naïve forecasting methods. The UKHO summary is found to have a similar Gerrity skill score to a “same as last month” forecast, an outcome that generates suggestions for improvements in how the different model outputs should be considered and presented in the high-level summary.     

Impact of climate and land-use changes on hydrological processes and sediment yield—a case study of the Be River catchment,Vietnam

Abstract

The impact of climate and land-use changes on hydrological processes and sediment yield is investigated in the Be River catchment, Vietnam, using the Soil and Water Assessment Tool (SWAT) hydrological model. The sensitivity analysis, model calibration and validation indicated that the SWAT model could reasonably simulate the hydrology and sediment yield in the catchment. From this, the responses of the hydrology and sediment to climate change and land-use changes were considered. The results indicate that deforestation had increased the annual flow (by 1.2%) and sediment load (by 11.3%), and that climate change had also significantly increased the annual streamflow (by 26.3%) and sediment load (by 31.7%). Under the impact of coupled climate and land-use changes, the annual streamflow and sediment load increased by 28.0% and 46.4%, respectively. In general, during the 1978–2000 period, climate change influenced the hydrological processes in the Be River catchment more strongly than the land-use change.

Editor Z.W. Kundzewicz; Associate editor Q. Zhang

Citation Khoi, D.N. and Suetsugi, T., 2014. Impact of climate and land-use changes on hydrological processes and sediment yield—a case study of the Be River catchment, Vietnam. Hydrological Sciences Journal, 59 (5), 1095–1108.     

Regionalisation of hydrological responses under land-use change and variable data quality

ABSTRACT

Estimating river flows at ungauged sites is generally recognised as an important area of research. In countries or regions with rapid land development and sparse hydrological gauging networks, three particular challenges may arise—data scarcity, data quality, and hydrological non-stationarity. Using data from 44 gauged sub-catchments of the upper Ping catchment in northern Thailand from the period 1995–2006, three relevant flow response indices (runoff coefficient, base flow index and seasonal elasticity of flow) were regionalised by regression against available catchment properties. The runoff coefficient was the most successfully regionalised, followed by base flow index and lastly the seasonal elasticity. The non-stationarity (represented by the differences between two 6-year sub-periods) was significant both in the flow response indices and in land use indices; however relationships between the two sets of indices were weak. The regression equations derived from regionalisation were not helpful in predicting the non-stationarity in the flow indices except somewhat for the runoff coefficient. A partly subjective data quality scoring system was devised, and showed the clear influence of rainfall and flow data quality on regionalisation uncertainty. Recommendations towards improving data support for hydrological regionalisation in Thailand include more relevant soils databases, improved records of abstractions and investment in the gauge network. Widening of the regionalisation beyond the upper Ping and renewed efforts at using remotely sensed rainfall data are other possible ways forward.

EDITOR Z.W. Kundzewicz ASSOCIATE EDITOR T. Wagener