Multigrid state vector for data assimilation in a two-way nested model of the Ligurian Sea

A system of two nested models composed by a coarse resolution model of the Mediterranean Sea, an intermediate resolution model of the Provençal Basin and a high resolution model of the Ligurian Sea is coupled with a Kalman-filter based assimilation method. The state vector for the data assimilation is composed by the temperature, salinity and elevation of the three models. The forecast error is estimated by an ensemble run of 200 members by perturbing initial condition and atmospheric forcings. The 50 dominant empirical orthogonal functions (EOF) are taken as the error covariance of the model forecast. This error covariance is assumed to be constant in time. Sea surface temperature (SST) and sea surface height (SSH) are assimilated in this system.     

Validation of a hybrid optimal interpolation and Kalman filter scheme for sea surface temperature assimilation

A hybrid data assimilation scheme designed for operational assimilation of satellite sea surface temperatures (SST) into an ocean model has been developed and validated against in-situ observations. The scheme consists of an optimal interpolation (OI) part and a greatly simplified Kalman filter (KF) part.The OI is performed only in the longitudinal and latitudinal directions. A climatological field is used as a background field for the interpolation. It is constructed by fitting daily averages of satellite SST to the annual mean, annual, and semiannual harmonics in a 20 km by 20 km grid. The background error covariance is approximated by a spatially varying two-dimensional exponential covariance model. The parameters of the covariance model are fitted to the deviations of the satellite data from the background field using data from a full year.The simplified KF uses ocean model forecasts as a background field. It is based on the assumption that it is possible to neglect horizontal SST covariances in the filter and that the typical time scale for vertical mixing in the mixed layer is much shorter than the average time between observations. We therefore assume that the error variance in a column of water is evenly spread out throughout the mixed layer. The result of these simplifications is a computationally very efficient KF.A one year validation of the scheme is performed for year 2001 using an operational eddy resolving ocean model covering the North Sea and the Baltic Sea. It is found that assimilation of sea surface temperature data reduces the model root mean square error from 1.13 °C to 0.70 °C. The hybrid scheme is found to reduce the root mean square error slightly more than the simplified KF without OI to 0.66 °C. The inclusion of spatially varying satellite error variances does not improve the performance of the scheme significantly.     

Estimating salinity to complement observed temperature: 1. Gulf of Mexico

This paper and its companion [Thacker, W.C., Sindlinger, L., 2007-this issue. Estimating salinity to complement observed temperature: 2. Northwestern Atlantic. Journal of Marine Systems. doi:10.1016/j.jmarsys.2005.06.007.] document initial efforts in a project with the goal of developing capability for estimating salinity on a region-by-region basis for the world oceans. The primary motivation for this project is to provide information for correcting salinity, and thus density, when assimilating expendable-bathythermograph (XBT) data into numerical simulations of oceanic circulation, while a secondary motivation is to provide information for calibrating salinity from autonomous profiling floats. Empirical relationships between salinity and temperature, which can be identified from archived conductivity–temperature–depth (CTD) data, provide the basis for the salinity estimates.The Gulf of Mexico was chosen as the first region to explore for several reasons: (1) It's geographical separation from the Caribbean Sea and the North Atlantic Ocean makes it a “small ocean” characterised by a deep central basin surrounded by a substantial continental shelf. (2) The archives contain a relatively large number of CTD data that can be used to establish empirical relationships. (3) The sharp fronts associated with the Loop Current and its rings, which separate water with different thermal and haline characteristics, pose a challenge for estimating salinity. In spite of the shelf and the fronts, the relationship between salinity and temperature was found to be sufficiently regular that a single empirical model could be used to estimate salinity on each pressure surface for the entire Gulf for all seasons. In and below the thermocline, root-mean-square estimation errors are small — less than 0.02 psu for pressures greater than 400 dbar, corresponding to potential density errors of less than 0.015 kg/m³. Errors for estimates nearer to the surface can be an order of magnitude larger.     

Data assimilation into a Princeton Ocean Model of the Mediterranean Sea using advanced Kalman filters

This study investigates the effectiveness of the Singular Evolutive Extended Kalman filter (SEEK) and its variants (SEIK and SFEK filters) for data assimilation into a Princeton Ocean Model (POM) of the Mediterranean Sea. The SEEK filters are sub-optimal Kalman filters based on the approximation of the filter's error covariance matrices by singular low-rank matrices, reducing in this way extensive computational burden. At the initialization, the filters error covariance matrix is parameterized by a set of multivariate empirical orthogonal functions (EOFs) which describe the dominant modes of the system's variability. The Mediterranean model is implemented on a 1/4° × 1/4° horizontal grid with 25 sigma levels and is forced with 6-hour ECMWF re-analysis atmospheric data. Several twin experiments, in which pseudo-observations of altimetric data and/or data profiles were assimilated, were first performed to evaluate the filters performances and to study their sensitivities to different parameters and setups. The results of these experiments were very encouraging and helped in setting up an effective configuration for the assimilation of real data in near-real time situation. In the hindcast experiments, Topex/Poseidon and ERS weekly sea level anomaly data were first assimilated during 1993 and the filters solution was evaluated against independent Reynolds sea surface temperature (SST) analysis. The assimilation system was able to significantly enhance the consistency between the model and the assimilated data, although the improvement with respect to independent SST data was significantly less pronounced. The model SST was only improved after including SST data in the assimilation system.     

The Mercator global ocean operational analysis system: Assessment and validation of an 11-year reanalysis

This paper presents Prototype Système 2 Global (PSY2G), the first Mercator global Ocean General Circulation Model (OGCM) to assimilate along-track sea level anomaly (SLA) satellite data. Based on a coarse resolution ocean model, this system was developed mainly for climatic purposes and will provide, for example, initial oceanic states for coupled ocean-atmosphere seasonal predictions. It has been operational since 3 September 2003 and produces an analysis and a two-week forecast for the global ocean every week. The PSY2G system uses an incremental assimilation scheme based on the Cooper and Haines [Cooper, M., Haines, K., 1996. Data assimilation with water property conservation. J. Geophys. Res., 101, 1059-1077.] lifting–lowering of isopycnals. The SLA increment is obtained using an optimal interpolation method then the correction is partitioned into baroclinic and barotropic contributions. The baroclinic ocean state correction consists of temperature, salinity and geostrophic velocity increments and the barotropic correction is a barotropic velocity increment. A reanalysis (1993–2003) was carried out that enabled the PSY2G system to perform its first operational cycle. All available SLA data sets (TOPEX/Poséïdon, ERS2, Geosat-Follow-On, Jason1 and Envisat) were assimilated for the 1993–2003 period. The major objective of this study is to assess the reanalysis from both an assimilation and a thermodynamic point of view in order to evaluate its realism, especially in the tropical band which is a key region for climatic studies. Although the system is also able to deliver forecasts, we have mainly focused on analysis. These results are useful because they give an a priori estimation of the qualities and capabilities of the operational ocean analysis system that has been implemented. In particular, the reanalysis identifies some regional biases in sea level variability such as near the Antarctic Circumpolar Current, in the eastern Equatorial Pacific and in the Norwegian Sea (generally less than 1 cm) with a small seasonal cycle. This is attributed to changes in mean circulation and vertical stratification caused by the assimilation methodology. But the model's low resolution, inaccurate physical parameterisations (especially for ocean–ice interactions) and surface atmospheric forcing also contribute to the occurrence of the SLA biases. A detailed analysis of the thermohaline structure of the ocean reveals that the isopycnal lifting–lowering tends to diffuse vertically the main thermocline. The impact on temperature is that the surface layer (0–200 m) becomes cooler whereas in deeper waters (from 500 to 1500 m), the ocean becomes slightly warmer. This is particularly true in the tropics, between 30°N and 30°S. However it can be demonstrated that the assimilation improves the variability in both surface currents and sub-surface temperature in the Equatorial Pacific Ocean.     

Wave data assimilation with the Kalman filter

A new data assimilation method for ocean waves is presented, based on an efficient low-rank approximation to the Kalman filter. Both the extended Kalman filter and a truncated second-order filter are implemented. In order to explicitly estimate past wind corrections based on current wave measurements, the filter is extended to a fixed-lag Kalman smoother for the wind fields. The filter is tested in a number of synthetic experiments with simple geometries. Propagation experiments with errors in the boundary condition showed that the KF was able to accurately propagate forecast errors, resulting in spatially varying error correlations, which would be impossible to model with time-independent assimilation methods like OI. An explicit comparison with an OI assimilation scheme showed that the KF also is superior in estimating the sea state at some distance from the observations. In experiments with errors in the driving wind, the modeled error estimates were also in agreement with the actual forecast errors. The bias in the state estimate, which is introduced through the nonlinear dependence of the waves on the driving wind field, was largely removed by the second-order filter, even without actually assimilating data. Assimilation of wave observations resulted in an improved wave analysis and in correction of past wind fields. The accuracy of this wind correction depends strongly on the actual place and time of wave generation, which is correctly modeled by the error estimate supplied by the Kalman filter. In summary, the KF approach is shown to be a reliable assimilation scheme in these simple experiments, and has the advantage over other assimilation methods that it supplies explicit dynamical error estimates.     

Assimilation of altimetric data in the mid-latitude oceans using the Singular Evolutive Extended Kalman filter with an eddy-resolving, primitive equation model

A new data assimilation scheme has been elaborated for ocean circulation models based on the concept of an evolutive, reduced-order Kalman filter. The dimension of the assimilation problem is reduced by expressing the initial error covariance matrix as a truncated series of orthogonal perturbations. This error sub-space evolves during the assimilation so as to capture the growing modes of the estimation error. The algorithm has been formulated in quite a general fashion to make it tractable with a large variety of ocean models and measurement types. In the present paper, we have examined three possible strategies to compute the evolution of the error subspace in the so-called Singular Evolutive Extended Kalman (SEEK) filter: the steady filter considers a time-independent error sub-space, the apprentice filter progressively enriches the error sub-space with the information learned from the innovation vector after each analysis step, and the dynamical filter updates the error sub-space according to the model dynamics. The SEEK filter has been implemented to assimilate synthetic observations of the surface topography in a non-linear, primitive equation model that uses density as vertical coordinate. A simplified box configuration has been adopted to simulate a Gulf Stream-like current and its associated eddies and gyres with a resolution of 20 km in the horizontal, and 4 levels in the vertical. The concept of twin experiments is used to demonstrate that the conventional SEEK filter must be complemented by a learning mechanism in order to model the misrepresented tail of the error covariance matrix. An approach based on the vertical physics of the isopycnal model, is shown particularly robust to control the velocity field in deep layers with surface observations only. The cost of the method makes it a suitable candidate for large-size assimilation problems and operational applications.