Hydrologic data assimilation with the ensemble Kalman filter

Abstract

Soil moisture controls the partitioning of moisture and energy fluxes at the land surface and is a key variable in weather and climate prediction. The performance of the ensemble Kalman filter (EnKF) for soil moisture estimation is assessed by assimilating L-band (1.4 GHz) microwave radiobrightness observations into a land surface model. An optimal smoother (a dynamic variational method) is used as a benchmark for evaluating the filter's performance. In a series of synthetic experiments the effect of ensemble size and non-Gaussian forecast errors on the estimation accuracy of the EnKF is investigated. With a state vector dimension of 4608 and a relatively small ensemble size of 30 (or 100; or 500), the actual errors in surface soil moisture at the final update time are reduced by 55% (or 70%; or 80%) from the value obtained without assimilation (as compared to 84% for the optimal smoother). For robust error variance estimates, an ensemble of at least 500 members is needed. The dynamic evolution of the estimation error variances is dominated by wetting and drying events with high variances during drydown and low variances when the soil is either very wet or very dry. Furthermore, the ensemble distribution of soil moisture is typically symmetric except under very dry or wet conditions when the effects of the nonlinearities in the model become significant. As a result, the actual errors are consistently larger than ensemble-derived forecast and analysis error variances. This suggests that the update is suboptimal. However, the degree of suboptimality is relatively small and results presented here indicate that the EnKF is a flexible and robust data assimilation option that gives satisfactory estimates even for moderate ensemble sizes.