Seasonal ensemble generator for radar rainfall using copula and autoregressive model

Uncertainty analysis of radar rainfall enables stakeholders and users have a clear knowledge of the possible uncertainty associated with the rainfall products. Long-term empirical modeling of the relationship between radar and gauge measurements is an efficient and practical method to describe the radar rainfall uncertainty. However, complicated variation of synoptic conditions makes the radar-rainfall uncertainty model based on historical data hard to extend in the future state. A promising solution is to integrate synoptic regimes with the empirical model and explore the impact of individual synoptic regimes on radar rainfall uncertainty. This study is an attempt to introduce season, one of the most important synoptic factor, into the radar rainfall uncertainty model and proposes a seasonal ensemble generator for radar rainfall using copula and autoregressive model. We firstly analyze the histograms of rainfall-weighted temperature, the radar-gauge relationships, and Box and Whisker plots in different seasons and conclude that the radar rainfall uncertainty has strong seasonal dependence. Then a seasonal ensemble generator is designed and implemented in a UK catchment under a temperate maritime climate, which can fully model marginal distribution, spatial dependence, temporal dependence and seasonal dependence of radar rainfall uncertainty. To test its performance, 12 typical rainfall events (4 for each season) are chosen to generate ensemble rainfall values. In each time step, 500 ensemble members are produced and the values of 5th to 95th percentiles are used to derive the uncertainty bands. Except several outliers, the uncertainty bands encompass the observed gauge rainfall quite well. The parameters of the ensemble generator vary considerably for each season, indicating the seasonal ensemble generator reflects the impact of seasons on radar rainfall uncertainty. This study is an attempt to simultaneously consider four key features of radar rainfall uncertainty and future study will investigate their impacts on the outputs of hydrological models with radar rainfall as input or initial conditions.     

Verification of short-term runoff forecasts for a small Philippine basin (Marikina)

Storm runoff from the Marikina River Basin frequently causes flood events in the Philippine capital region Metro Manila. This paper presents and evaluates a system to predict short-term runoff from the upper part of that basin (380 km²). It was designed as a possible component of an operational warning system yet to be installed. For the purpose of forecast verification, hindcasts of streamflow were generated for a period of 15 months with a time-continuous, conceptual hydrological model. The latter was fed with real-time observations of rainfall. Both ground observations and weather radar data were tested as rainfall forcings. The radar-based precipitation estimates clearly outperformed the raingauge-based estimates in the hydrological verification. Nevertheless, the quality of the deterministic short-term runoff forecasts was found to be limited. For the radar-based predictions, the reduction of variance for lead times of 1, 2 and 3 hours was 0.61, 0.62 and 0.54, respectively, with reference to a “no-forecast” scenario, i.e. persistence. The probability of detection for major increases in streamflow was typically less than 0.5. Given the significance of flood events in the Marikina Basin, more effort needs to be put into the reduction of forecast errors and the quantification of remaining uncertainties.     

Radar rainfall uncertainty modelling influenced by wind

Radar‐based estimates of rainfall are affected by many sources of uncertainties, which would propagate through the hydrological model when radar rainfall estimates are used as input or initial conditions. An elegant solution to quantify these uncertainties is to model the empirical relationship between radar measurements and rain gauge observations (as the ‘ground reference’). However, most current studies only use a fixed and uniform model to represent the uncertainty of radar rainfall, without consideration of its variation under different synoptic regimes. Wind is such a typical weather factor, as it not only induces error in rain gauge measurements but also causes the raindrops observed by weather radar to drift when they reach the ground. For this reason, as a first attempt, this study introduces the wind field into the uncertainty model and designs the radar rainfall uncertainty model under different wind conditions. We separate the original dataset into three subsamples according to wind speed, which are named as WDI (0–2 m/s), WDII (2–4 m/s) and WDIII (>4 m/s). The multivariate distributed ensemble generator is introduced and established for each subsample. Thirty typical events (10 at each wind range) are selected to explore the behaviours of uncertainty under different wind ranges. In each time step, 500 ensemble members are generated, and the values of 5th to 95th percentile values are used to produce the uncertainty bands. Two basic features of uncertainty bands, namely dispersion and ensemble bias, increase significantly with the growth of wind speed, demonstrating that wind speed plays a considerable role in influencing the behaviour of the uncertainty band. On the basis of these pieces of evidence, we conclude that the radar rainfall uncertainty model established under different wind conditions should be more realistic in representing the radar rainfall uncertainty. This study is only a start in incorporating synoptic regimes into rainfall uncertainty analysis, and a great deal of more effort is still needed to build a realistic and comprehensive uncertainty model for radar rainfall data. Copyright © 2014 John Wiley & Sons, Ltd.     

Sensitivity of hydrological models to uncertainty in rainfall input

Abstract

Different approaches used in hydrological modelling are compared in terms of the way each one takes the rainfall data into account. We examine the errors associated with accounting for rainfall variability, whether in hydrological modelling (distributed vs lumped models) or in computing catchment rainfall, as well as the impact of each approach on the representativeness of the parameters it uses. The database consists of 1859 rainfall events, distributed on 500 basins, located in the southeast of France with areas ranging from 6.2 to 2851 km². The study uses as reference the hydrographs computed by a distributed hydrological model from radar rainfall. This allows us to compare and to test the effects of various simplifications to the process when taking rainfall information (complete rain field vs sampled rainfall) and rainfall–runoff modelling (lumped vs distributed) into account. The results appear to show that, in general, the sampling effect can lead to errors in discharge at the outlet that are as great as, or even greater than, those one would get with a fully lumped approach. We found that small catchments are more sensitive to the uncertainties in catchment rainfall input generated by sampling rainfall data as seen through a raingauge network. Conversely, the larger catchments are more sensitive to uncertainties generated when the spatial variability of rainfall events is not taken into account. These uncertainties can be compensated for relatively easily by recalibrating the parameters of the hydrological model, although such recalibrations cause the parameter in question to completely lose physical meaning.

Citation Arnaud, P., Lavabre, J., Fouchier, C., Diss, S. & Javelle, P. (2011) Sensitivity of hydrological models to uncertainty of rainfall input. Hydrol. Sci. J. 56(3), 397–410.     

Integration of gauge and radar rainfall to enable best simulation of hydrological parameters

This study is about use of spatially distributed rain in physically based hydrological models. In recent years, spatially distributed radar rainfall data have become available. The distributed radar rain is used to precisely model hydrologic processes and it is more realistic than the past practice of distribution methods like Thiessen polygons. Radar provides a highly accurate spatial distribution of rainfall and greatly improves the basin average rainfall estimates. However, quantification of the exact amount of rainfall from radar observation is relatively difficult. Thus, the fundamental idea of this study is to apply hourly gauge and radar rainfall data in a distributed hydrological model to simulate hydrological parameters. Hence the comparison is made between the outcomes of the WetSpa model from radar rainfall distribution and gauge rainfall distributed by the Thiessen polygon technique. The comparative plots of the hydrograph and the results of hydrological components such as evapotranspiration, surface runoff, soil moisture, recharge and interflow, reflect the spatially distributed radar input performing well for model outflow simulation.

EDITOR D. Koutsoyiannis

ASSOCIATE EDITOR F. Pappenberger     

Distributed hydrological modelling using weather radar in gauged and ungauged basins

Distributed hydrological modelling using space–time estimates of rainfall from weather radar provides a natural approach to area-wide flood forecasting and warning at any location, whether gauged or ungauged. However, radar estimates of rainfall may lack consistent, quantitative accuracy. Also, the formulation of hydrological models in distributed form may be problematic due to process complexity and scaling issues. Here, the aim is to first explore ways of improving radar rainfall accuracy through combination with raingauge network data via integrated multiquadric methods. When the resulting gridded rainfall estimates are employed as input to hydrological models, the simulated river flows show marked improvements when compared to using radar data alone. Secondly, simple forms of physical–conceptual distributed hydrological model are considered, capable of exploiting spatial datasets on topography and, where necessary, land-cover, soil and geology properties. The simplest Grid-to-Grid model uses only digital terrain data to delineate flow pathways and to control runoff production, the latter by invoking a probability-distributed relation linking terrain slope to soil absorption capacity. Model performance is assessed over nested river basins in northwest England, employing a lumped model as a reference. When the distributed model is used with the gridded radar-based rainfall estimators, it shows particular benefits for forecasting at ungauged locations.     

Probabilistic radar rainfall nowcasts using empirical and theoretical uncertainty models

Weather radar has a potential to provide accurate short‐term (0–3 h) forecasts of rainfall (i.e. radar nowcasts), which are of great importance in warnings and risk management for hydro‐meteorological events. However, radar nowcasts are affected by large uncertainties, which are not only linked to limitations in the forecast method but also because of errors in the radar rainfall measurement. The probabilistic quantitative precipitation nowcasting approach attempts to quantify these uncertainties by delivering the forecasts in a probabilistic form. This study implements two forms of probabilistic quantitative precipitation nowcasting for a hilly area in the south of Manchester, namely, the theoretically based scheme [ensemble rainfall forecasts (ERF)‐TN] and the empirically based scheme (ERF‐EM), and explores which one exhibits higher predictive skill. The ERF‐TN scheme generates ensemble forecasts of rainfall in which each ensemble member is determined by the stochastic realisation of a theoretical noise component. The so‐called ERF‐EM scheme proposed and applied for the first time in this study, aims to use an empirically based error model to measure and quantify the combined effect of all the error sources in the radar rainfall forecasts. The essence of the error model is formulated into an empirical relation between the radar rainfall forecasts and the corresponding ‘ground truth’ represented by the rainfall field from rain gauges measurements. The ensemble members generated by the two schemes have been compared with the rain gauge rainfall. The hit rate and the false alarm rate statistics have been computed and combined into relative operating characteristic curves. The comparison of the performance scores for the two schemes shows that the ERF‐EM achieves better performance than the ERF‐TN at 1‐h lead time. The predictive skills of both schemes are almost identical when the lead time increases to 2 h. In addition, the relation between uncertainty in the radar rainfall forecasts and lead time is also investigated by computing the dispersion of the generated ensemble members. Copyright © 2013 John Wiley & Sons, Ltd.     

Improving rainfall–runoff modelling through the control of uncertainties under increasing climate variability in the Ouémé River basin (Benin,West Africa)

ABSTRACT

The objective of this paper is to understand how the natural dynamics of a time-varying catchment, i.e. the rainfall pattern, transforms the random component of rainfall and how this transformation influences the river discharge. To this end, this paper develops a rainfall–runoff modelling approach that aims to capture the multiple sources and types of uncertainty in a single framework. The main assumption is that hydrological systems are nonlinear dynamical systems which can be described by stochastic differential equations (SDE). The dynamics of the system is based on the least action principle (LAP) as derived from Noether’s theorem. The inflow process is considered as a sum of deterministic and random components. Using data from the Ouémé River basin (Benin, West Africa), the basic properties for the random component are considered and the triple relationship between the structure of the inflowing rainfall, the corresponding SDE that describes the river basin and the associated Fokker-Planck equations (FPE) is analysed.

EDITOR D. Koutsoyiannis; ASSOCIATE EDITOR D. Gerten     

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     

Assessing spatially dependent errors in radar rainfall estimates for rainfall-runoff simulation

Weather radar been widely employed to measure precipitation and to predict flood risks. However, it is still not considered accurate enough because of radar errors. Most previous studies have focused primarily on removing errors from the radar data. Therefore, in the current study, we examined the effects of radar rainfall errors on rainfall-runoff simulation using the spatial error model (SEM). SEM was used to synthetically generate random or cross-correlated errors. A number of events were generated to investigate the effect of spatially dependent errors in radar rainfall estimates on runoff simulation. For runoff simulation, the Nam River basin in South Korea was used with the distributed rainfall-runoff model, Vflo?. The results indicated that spatially dependent errors caused much higher variations in peak discharge than independent random errors. To further investigate the effect of the magnitude of cross-correlation among radar errors, different magnitudes of spatial cross-correlations were employed during the rainfall-runoff simulation. The results demonstrated that a stronger correlation led to a higher variation in peak discharge up to the observed correlation structure while a correlation stronger than the observed case resulted in lower variability in peak discharge. We concluded that the error structure in radar rainfall estimates significantly affects predictions of the runoff peak. Therefore, efforts to not only remove the radar rainfall errors, but to also weaken the cross-correlation structure of the errors need to be taken to forecast flood events accurately.     

Assessing hydrological model predictive uncertainty using stochastically generated geological models

In distributed and coupled surface water–groundwater modelling, the uncertainty from the geological structure is unaccounted for if only one deterministic geological model is used. In the present study, the geological structural uncertainty is represented by multiple, stochastically generated geological models, which are used to develop hydrological model ensembles for the Norsminde catchment in Denmark. The geological models have been constructed using two types of field data, airborne geophysical data and borehole well log data. The use of airborne geophysical data in constructing stochastic geological models and followed by the application of such models to assess hydrological simulation uncertainty for both surface water and groundwater have not been previously studied. The results show that the hydrological ensemble based on geophysical data has a lower level of simulation uncertainty, but the ensemble based on borehole data is able to encapsulate more observation points for stream discharge simulation. The groundwater simulations are in general more sensitive to the changes in the geological structure than the stream discharge simulations, and in the deeper groundwater layers, there are larger variations between simulations within an ensemble than in the upper layers. The relationship between hydrological prediction uncertainties measured as the spread within the hydrological ensembles and the spatial aggregation scale of simulation results has been analysed using a representative elementary scale concept. The results show a clear increase of prediction uncertainty as the spatial scale decreases. Copyright © 2015 John Wiley & Sons, Ltd.     

The effect of differences between rainfall measurement techniques on groundwater and discharge simulations in a lowland catchment

Several rainfall measurement techniques are available for hydrological applications, each with its own spatial and temporal resolution and errors. When using these rainfall datasets as input for hydrological models, their errors and uncertainties propagate through the hydrological system. The aim of this study is to investigate the effect of differences between rainfall measurement techniques on groundwater and discharge simulations in a lowland catchment, the 6.5‐km² Hupsel Brook experimental catchment. We used five distinct rainfall data sources: two automatic raingauges (one in the catchment and another one 30 km away), operational (real‐time and unadjusted) and gauge‐adjusted ground‐based C‐band weather radar datasets and finally a novel source of rainfall information for hydrological purposes, namely, microwave link data from a cellular telecommunication network. We used these data as input for the, a recently developed rainfall‐runoff model for lowland catchments, and intercompared the five simulated discharges time series and groundwater time series for a heavy rainfall event and a full year. Three types of rainfall errors were found to play an important role in the hydrological simulations, namely: (1) Biases, found in the unadjusted radar dataset, are amplified when propagated through the hydrological system; (2) Timing errors, found in the nearest automatic raingauge outside the catchment, are attenuated when propagated through the hydrological system; (3) Seasonally varying errors, found in the microwave link data, affect the dynamics of the simulated catchment water balance. We conclude that the hydrological potential of novel rainfall observation techniques should be assessed over a long period, preferably a full year or longer, rather than on an event basis, as is often done. Copyright © 2016 The Authors. Hydrological Processes. Published by John Wiley & Sons Ltd.     

Using stochastic state‐space modelling to specify and reduce hydrograph error

A Bayesian post‐processor is used to generate a representation of the likely hydrograph forecast flow error distribution using raingauge and radar input to a stochastic catchment model and its deterministic equivalent. A hydrograph ensemble is so constructed. Experiments are analysed using the model applied to the River Croal in north‐west England. It is found that for rainfall input to the model having errors less than 3mm h^?1, corresponding to about a 15% error in peak flow, the stochastic model outperforms the deterministic model. The range of hydrographs associated with the different model simulations and the measured hydrographs are compared. The significant improvement possible using a stochastic approach is demonstrated for a specific case study, although the mean hydrograph derived using the stochastic model has an error range associated with it. Copyright © 2007 John Wiley & Sons, Ltd.     

Hydrological model for urban catchments – analytical development using copulas and numerical solution

Abstract

A model based on analytical development and numerical solution is presented for estimating the cumulative distribution function (cdf) of the runoff volume and peak discharge rate of urban floods using the joint probability density function (pdf) of rainfall volume and duration together with information about the catchment's physical characteristics. The joint pdf of rainfall event volume and duration is derived using the theory of copulas. Four families of Archimedean copulas are tested in order to select the most appropriate to reproduce the dependence structure of those variables. Frequency distributions of runoff event volume and peak discharge rate are obtained following the derived probability distribution theory, using the functional relationship given by the rainfall–runoff process. The model is tested in two urban catchments located in the cities of Chillán and Santiago, Chile. The results are compared with the outcomes of continuous simulation in the Storm Water Management Model (SWMM) and with those from another analytical model that assumes storm event duration and volume to be statistically independent exponentially distributed variables.

Citation Zegpi, M. & Fernández, B. (2010) Hydrological model for urban catchments – analytical development using copulas and numerical solution. Hydrol. Sci. J. 55(7), 1123–1136.     

Review of the Different Sources of Uncertainty in Single Polarization Radar-Based Estimates of Rainfall

It is well acknowledged that there are large uncertainties associated with radar-based estimates of rainfall. Numerous sources of these errors are due to parameter estimation, the observational system and measurement principles, and not fully understood physical processes. Propagation of these uncertainties through all models for which radar-rainfall are used as input (e.g., hydrologic models) or as initial conditions (e.g., weather forecasting models) is necessary to enhance the understanding and interpretation of the obtained results. The aim of this paper is to provide an extensive literature review of the principal sources of error affecting single polarization radar-based rainfall estimates. These include radar miscalibration, attenuation, ground clutter and anomalous propagation, beam blockage, variability of the Z–R relation, range degradation, vertical variability of the precipitation system, vertical air motion and precipitation drift, and temporal sampling errors. Finally, the authors report some recent results from empirically-based modeling of the total radar-rainfall uncertainties. The bibliography comprises over 200 peer reviewed journal articles.     

Quantitative assessment of short‐term rainfall forecasts from radar nowcasts and MM5 forecasts

Short‐term Quantitative Precipitation Forecasts (QPFs) can be achieved from numerical weather prediction (NWP) models or radar nowcasting, that is the extrapolation of the precipitation at a future time from consecutive radar scans. Hybrid forecasts obtained by merging rainfall forecasts from radar nowcasting and NWP models are potentially more skilful than either radar nowcasts or NWP rainfall forecasts alone. This paper provides an assessment of deterministic and probabilistic high‐resolution QPFs achieved by implementing the Short‐term Ensemble Prediction System developed by the UK Met Office. Both radar nowcasts and hybrid forecasts have been performed. The results show that the performance of both deterministic nowcasts and deterministic hybrid forecasts decreases with increasing rainfall intensity and spatial resolution. The results also show that the blending with the NWP forecasts improves the performance of the forecasting system. Probabilistic hybrid forecasts have been obtained through the modelling of a stochastic noise component to produce a number of equally likely ensemble members, and the comparative assessment of deterministic and probabilistic hybrid forecasts shows that the probabilistic forecasting system is characterised by a higher discrimination accuracy than the deterministic one. Copyright © 2011 John Wiley & Sons, Ltd.     

Improving streamflow estimation in ungauged basins using a multi-modelling approach

ABSTRACT

In this study, a multi-modelling approach is proposed for improved continuous daily streamflow estimation in ungauged basins using regionalization—the process of transferring hydrological data from gauged to ungauged watersheds. Four regionalization models, two data-driven and two hydrological, were used for continuous daily streamflow estimation. Comparison of the individual models reveals that each of the four models performed well on a limited number of ungauged basins while none of them performed well for the entire 90 selected watersheds. The results obtained from the four models are evaluated and reported in a deterministic way by a model combination approach along with its uncertainty range consisting of 16 ensemble members. It is shown that a combined model of the four individual models performed well on all 90 watersheds and the ensemble range can account for the uncertainty of models. The combined model was more efficient and appeared more robust compared to the individual models. Furthermore, continuous ranked probability scores (CRPS) calculated for the ensemble model outputs indicate better performance compared to individual models and competitive with the combined model.

EDITOR A. Castellarin ASSOCIATE EDITOR G. Di Baldassarre     

Assessment of radar-based locally varying anisotropy on daily rainfall interpolation

ABSTRACT

Spatial variability of rainfall has been recognised as an important factor controlling the hydrological response of catchments. However, gauged daily rainfall data are often available at scattered locations over the catchments. This paper looks into how to capitalise on the spatial structure of radar rainfall data for improving kriging interpolation of limited gauge data over catchments at the 1-km² grid scale, using for the case study 117 gauged stations within the 128 km × 128 km region of the Mt Stapylton weather radar field (near Brisbane, Australia). Correlograms were developed using a Fast Fourier Transform method on the Gaussianised radar and gauged data. It is observed that the correlograms vary from day to day and display significant anisotropy. For the radar data, locally varying anisotropy (LVA) was examined by developing the correlogram centred on each pixel and for different radial distances. Cross-validation was carried out using the empirical correlogram tables, as well as different fitting strategies of a two-dimensional exponential distribution for both the gauged and the radar data. The results indicate that the correlograms based on the radar data outperform the gauged ones as judged by statistical measures including root mean square error, mean bias, mean absolute bias, mean standard deviation and mean inter-quartile range. While the radar data display significant LVA, it was observed that LVA did not significantly improve the estimates compared with the global anisotropy. This was also confirmed by conditional simulation of 120 rainfields using different options of correlogram development.

EDITOR M.C. Acreman; ASSOCIATE EDITOR Q. Zhang     

Hydrological appraisal of rainfall estimates from radar,satellite, raingauge and satellite–gauge combination on the Qinhuai River Basin,China

ABSTRACT

Multisource rainfall products can be used to overcome the absence of gauged precipitation data for hydrological applications. This study aims to evaluate rainfall estimates from the Chinese S-band weather radar (CINRAD-SA), operational raingauges, multiple satellites (CMORPH, ERA-Interim, GPM, TRMM-3B42RT) and the merged satellite–gauge rainfall products, CMORPH-GC, as inputs to a calibrated probability distribution model (PDM) on the Qinhuai River Basin in Nanjing, China. The Qinhuai is a middle-sized catchment with an area of 799 km². All sources used in this study are capable of recording rainfall at high spatial and temporal resolution (3 h). The discrepancies between satellite and radar data are analysed by statistical comparison with raingauge data. The streamflow simulation results from three flood events suggest that rainfall estimates using CMORPH-GC, TRMM-3B42RT and S-band radar are more accurate than those using the other rainfall sources. These findings indicate the potential to use satellite and radar data as alternatives to raingauge data in hydrological applications for ungauged or poorly gauged basins.     

Probabilistic spatial prediction of categorical data using elliptical copulas

This study uses elliptical copulas and transition probabilities for uncertainty modeling of categorical spatial data. It begins by discussing the expressions of the cumulative distribution function and probability density function of two major elliptical copulas: Gaussian copula and t copula. The basic form of spatial copula discriminant function is then derived based on Bayes’ theorem, which consists of three parts: the prior probability, the conditional marginal densities, and the conditional copula density. Finally, three kinds of parameter estimation methods are discussed, including maximum likelihood estimation, inference functions for margins and canonical maximum likelihood (CML). To avoid making assumptions on the form of marginal distributions, the CML approach is adopted in the real-world case study. Results show that the occurrence probability maps generated by these two elliptical copulas are similar to each other. However, the prediction map interpolated by Gaussian copula has a relatively higher classification accuracy than t copula.