Inter-comparison of 4D-Var and EnKF systems for operational deterministic NWP
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1 Inter-comparison of 4D-Var and EnKF systems for operational deterministic NWP Project eam: Mark Buehner Cecilien Charette Bin He Peter Houtekamer Herschel Mitchell WWRP/HORPEX Workshop on 4D-VAR and Ensemble Kalman Filter Intercomparisons Buenos Aires, Argentina Mark Buehner Meteorological Research Division November 13, 2008
2 Introduction Goal: compare 4D-Var and EnKF approaches in the context of producing global high-resolution deterministic analyses for operational NWP 4D-Var and EnKF: both operational at CMC since 2005 both use Canadian GEM forecast model both assimilate similar set of observations using mostly the same observation operators and observation error covariances 4D-Var used to initialize short to medium range global deterministic forecasts EnKF (96 members) used to initialize medium range global Ensemble Prediction System (20 members) DRAF Page 2 November 14, 2008
3 Contents Description of operational systems Configurations used for the inter-comparison Single observation experiments: differences in localization differences in covariance evolution Full analysis-forecast experiments (February 2007) global model at ~35km grid spacing, 58 levels, 10 hpa top scores from analyses (vs. radiosondes) scores from 56 6-day deterministic forecasts (vs. radiosondes and analyses) Conclusions and future work DRAF Page 3 November 14, 2008
4 Operational Configurations 4D-Var operational since March, 2005 incremental approach: ~35km/150km grid spacing, 58 levels, 10hPa top, 6h assimilation window EnKF operational since January ensemble members: ~100km grid spacing, 28 levels, 10hPa top, 6h assimilation window Dependence between systems EnKF uses 4D-Var bias correction of satellite observations and quality control for all observations model-error covariances in EnKF are similar to a scaled down version of 4D-Var background-error covariances DRAF Page 4 November 14, 2008
5 Experimental Configurations Modifications relative to operational systems Same observations assimilated in all experiments: radiosondes, aircraft observations, AMVs, S wind profilers, QuikSCA, AMS-A/B, in situ surface observations eliminated AIRS, SSM/I, GOES radiances from 4D-Var quality control decisions and bias corrections extracted from independent 4D-Var experiment observation error variance smaller for AMS-A ch9+10 in EnKF Increased number of levels in EnKF to match 4D-Var Increased horizontal resolution of 4D-Var inner loop to match EnKF Other minor modifications in both systems to obtain essentially identical innovations (each tested to ensure no degradation) DRAF Page 5 November 14, 2008
6 Experimental Configurations Four main experiments (2 standard, 2 new approaches) 4D-Var: with B matrix same as operational system (NMC method, Bnmc) with flow-dependent B matrix from EnKF (Benkf) at beginning of assim. window (same localization parameters and σ obs for AMS-A ch9+10 as in EnKF) EnKF high resolution 6-day forecasts initialized with: low resolution ensemble mean analysis high resolution deterministic member (in progress, no results yet): incremental approach similar to 4D-Var: innovation computed from high resolution background state low resolution increment added to high res. background state no obs error or model error perturbations use all 96 members to compute K (deterministic member not used in covariance estimation) DRAF Page 6 November 14, 2008
7 Experimental Configurations Remaining differences between two new approaches Differences in spatial localization (most evident with radiance obs): 4D-Var: K = (ρ P) H ( H(ρ P)H + R ) -1 (P is 3D, H contains M) EnKF: K = ρ (P H ) ( ρ (HPH ) + R ) -1 (P is 4D) Differences in temporal propagation of error covariances: 4D-Var: implicitly done with L/AD model (also use NLM to propagate increment from beginning to middle of assimilation window) EnKF: explicitly done with NLM in subspace of background ensemble Differences in solution technique: 4D-Var: limited convergence towards global solution with 2 iterations of outer loop (30+25 iterations) EnKF: sequential-in-obs-batches explicit solution (not equivalent to global solution when using spatial localization) Differences in time interpolation of obs in assimilation window: 4D-Var: 0.75h timestep, nearest neighbour interpolation in time EnKF: 1.5h timestep, linear interpolation in time DRAF Page 7 November 14, 2008
8 Single observation experiments Difference in vertical localization between 4D-Var and EnKF AMS-A ch9 peak sensitivity near 70hPa no covariance evolution (3D-Var) with same B, increment slightly larger & less local with 4D-Var than EnKF with very little localization increments nearly identical DRAF Page 8 November 14, 2008
9 Single observation experiments Difference in vertical localization between 4D-Var and EnKF AMS-A ch10 peak sensitivity near 30hPa no covariance evolution (3D-Var) with same B, increment larger & broader (peak at 10hPa, not 30hPa) with 4D-Var vs. EnKF with 4D-Var, local influence at 10hPa (amplified by large variance) not damped as with EnKF DRAF Page 9 November 14, 2008
10 Single observation experiments Difference in vertical localization between 4D-Var and EnKF all AMS-A channels (4-10) no covariance evolution (3D-Var) with same B, largest differences near model top (much larger with 4D-Var-Benkf) likely explains larger forecast errors near model top with 4D-Var- Benkf in tropics, southern extratropics contour plots at 70 hpa DRAF Page 10 November 14, 2008
11 Single observation experiments Difference in vertical localization between 4D-Var and EnKF entire temp. profile of nearby radiosonde no covariance evolution (3D-Var) all experiments give very similar increments (more than with AMS-A) same general shape as with AMS-A in layer 150hPa-700hPa contour plots at 150 hpa DRAF Page 11 November 14, 2008
12 Single observation experiments 3D-Var Difference in temporal covariance evolution radiosonde temperature observation at 500hPa observation at middle of assimilation window (+0h) with same B, increments nearly identical from 3D-Var, EnKF contours are 500hPa background state at 0h (ci=10m) 3DV-Bnmc 3DV-Benkf EnKF-mean contour plots at 500 hpa DRAF Page 12 November 14, 2008
13 4D error covariances EnKF and 4D-Var both use 4-dimensional error covariances to compute analysis increment at the middle of assimilation window (0h) from observations throughout window: EnKF: B ens (0h,-3h) = (M(ens(-3h)) ens(-3h) ) 4D-Var: B ens (0h,0h) = (M(ens(-3h)) M(ens(-3h)) ) B ens (0h,+3h) = ( M(ens(-3h)) M(M(ens(-3h))) ) M (B ens (-3h,-3h)) M ((B ens (-3h,-3h)) M ) M ((B ens (-3h,-3h)) M M ) -3h 0h +3h note: localization is ignored here for clarity DRAF Page 13 November 14, 2008
14 Single observation experiments Difference in temporal covariance evolution radiosonde temperature observation at 500hPa observation at beginning of assimilation window (-3h) with same B, increments very similar from 4D-Var, EnKF contours are 500hPa background state at 0h (ci=10m) contour plots at 500 hpa DRAF Page 14 November 14, 2008
15 Single observation experiments Difference in temporal covariance evolution radiosonde temperature observation at 500hPa observation at middle of assimilation window (+0h) with same B, increments very similar from 4D-Var, EnKF contours are 500hPa background state at 0h (ci=10m) contour plots at 500 hpa DRAF Page 15 November 14, 2008
16 Single observation experiments Difference in temporal covariance evolution radiosonde temperature observation at 500hPa observation at end of assimilation window (+3h) with same B, increments very similar from 4D-Var, EnKF contours are 500hPa background state at 0h (ci=10m) contour plots at 500 hpa DRAF Page 16 November 14, 2008
17 Fit of Analyses to Observations global EnKF mean analysis 4D-Var Benkf - d DRAF Page 17 November 14, d stddev & bias relative to radiosondes
18 Forecast Results 48h northern hemisphere EnKF mean analysis 4D-Var Benkf - d DRAF Page 18 November 14, d stddev & bias relative to radiosondes
19 Forecast Results 120h northern hemisphere EnKF mean analysis 4D-Var Benkf - d DRAF Page 19 November 14, d stddev & bias relative to radiosondes
20 Forecast Results 48h southern hemisphere EnKF mean analysis 4D-Var Benkf - d DRAF Page 20 November 14, d stddev & bias relative to radiosondes
21 Forecast Results 120h southern hemisphere EnKF mean analysis 4D-Var Benkf - d DRAF Page 21 November 14, d stddev & bias relative to radiosondes
22 Forecast Results 72h tropics EnKF mean analysis 4D-Var Benkf - d DRAF Page 22 November 14, d stddev & bias relative to radiosondes
23 Forecast Results 500 hpa EnKF Mean Analyses 4D-Var with Benkf Southern Hemisphere Northern Hemisphere EnKF Mean Analyses 4D-Var with Benkf DRAF Page 23 November 14, 2008 stddev & bias relative to radiosondes
24 Results 500hPa anomaly correlation ***Verifying analyses from 4D-Var with Bnmc*** 1.00 Northern hemisphere 1.00 Southern hemisphere Bnmc_4DV Benkf_4DV Mean_ENKF 0.80 Bnmc_4DV Benkf_4DV Mean_ENKF D-Var Bnmc 4D-Var Benkf EnKF mean analysis D-Var Bnmc 4D-Var Benkf EnKF mean analysis DRAF Page 24 November 14, 2008
25 Results 850hPa anomaly correlation ***Verifying analyses from 4D-Var with Bnmc*** 1.00 ropics Bnmc_4DV Benkf_4DV Mean_ENKF 4D-Var Bnmc 4D-Var Benkf EnKF mean analysis DRAF Page 25 November 14, 2008
26 Conclusions Based on 1-month data assimilation experiments (Feb 2007) High-resolution medium-range global deterministic forecasts initialized with: 4D-Var (Bnmc) or EnKF (ensemble mean) analyses have comparable quality (both systems like operational approaches) 4D-Var with flow-dependent EnKF covariances yields a gain of ~10 hours at day 5 in southern extra-tropics Still need to complete EnKF experiment using incremental approach to produce high-resolution deterministic analysis Also test impact of flow-dependent Benkf in 3D-Var DRAF Page 26 November 14, 2008
27 Extra Slides DRAF Page 27 November 14, 2008
28 Forecast Results 120h Operational 4D-Var Operational 4D-Var Operational 4D-Var - d Northern hemisphere DRAF Page 28 November 14, d Southern hemisphere
29 Forecast Results 48h northern hemisphere EnKF mean analysis 4D-Var Benkf - d DRAF Page 29 November 14, d stddev & bias relative to radiosondes
30 Forecast Results 120h northern hemisphere EnKF mean analysis 4D-Var Benkf - d DRAF Page 30 November 14, d stddev & bias relative to radiosondes
31 Forecast Results 48h southern hemisphere EnKF mean analysis 4D-Var Benkf - d DRAF Page 31 November 14, d stddev & bias relative to radiosondes
32 Forecast Results 120h southern hemisphere EnKF mean analysis 4D-Var Benkf - d DRAF Page 32 November 14, d stddev & bias relative to radiosondes
33 Forecast Results 72h tropics EnKF mean analysis 4D-Var Benkf - d DRAF Page 33 November 14, d stddev & bias relative to radiosondes
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