Comparison of Hybrid Ensemble/4DVar and 4DVar within the NAVDAS-AR Data Assimilation Framework

Hybrid ensemble–variational assimilation methods that combine static and flow-dependent background error covariances have been widely applied for numerical weather predictions. The commonly used hybrid assimilation methods compute the analysis increment using a variational framework and update the ensemble perturbations by an ensemble Kalman filter (EnKF). To avoid the inconsistencies that result from performing separate variational and EnKF systems, two integrated hybrid EnKFs that update both the ensemble mean and ensemble perturbations by a hybrid background error covariance in the framework of EnKF are proposed here. The integrated hybrid EnKFs approximate the static background error covariance by use of climatological perturbations through augmentation or additive approaches. The integrated hybrid EnKFs are tested in the Lorenz05 model given different magnitudes of model errors. Results show that the static background error covariance can be sufficiently estimated by climatological perturbations with an order of hundreds. The integrated hybrid EnKFs are superior to the traditional hybrid assimilation methods, which demonstrates the benefit to update ensemble perturbations by the hybrid background error covariance. Sensitivity results reveal that the advantages of the integrated hybrid EnKFs over traditional hybrid assimilation methods are maintained with varying ensemble sizes, inflation values, and localization length scales. Significance Statement Data assimilation is critical for providing the best possible initial condition for forecast and improving the numerical weather predictions. The hybrid ensemble–variational data assimilation method has been widely adopted and developed by many operational centers. The hybrid ensemble–variational assimilation method combines the advantages of ensemble and variational methods and minimizes the weaknesses of the two methods, and thus it outperforms the stand-alone variational and ensemble assimilation methods. The hybrid ensemble–variational assimilation method often computes the control analysis using a variational solver with hybrid background error covariances, but generates the ensemble perturbations by an ensemble Kalman filter (EnKF) system with pure flow-dependent background error covariances. The inconsistencies that result from performing separate variational and EnKF systems can lead to suboptimality in the hybrid ensemble–variational assimilation method. Therefore, integrated hybrid EnKF methods that utilize the framework of an EnKF to update both the ensemble mean and ensemble perturbations by the hybrid background error covariance, are proposed. The integrated hybrid EnKFs use climatological ensemble perturbations to approximate the static background error covariance. The integrated hybrid EnKFs are superior to the traditional hybrid ensemble–variational assimilation methods by producing smaller errors, and the advantages are persistent with varying assimilation parameters.

The impact of assimilating radiances from the Advanced Microwave Sounding Unit-A (AMSU-A) on the track prediction of Typhoon Megi (2010) was studied using the Weather Research and Forecasting (WRF) model and a hybrid ensemble three-dimensional variational (En3DVAR) data assimilation (DA) system. The influences of tuning the length scale and variance scale factors related to the static background error covariance (BEC) on the track forecast of the typhoon were studied. The results show that, in typhoon radiance data assimilation, a moderate length scale factor improves the prediction of the typhoon track. The assimilation of AMSU-A radiances using 3DVAR had a slight positive impact on track forecasts, even when the static BEC was carefully tuned to optimize its performance. When the hybrid DA was employed, the track forecast was significantly improved, especially for the sharp northward turn after crossing the Philippines, with the flow-dependent ensemble covariance. The flow-dependent BEC can be estimated by the hybrid DA and was capable of adjusting the position of the typhoon systematically. The impacts of the typhoon-specific BEC derived from ensemble forecasts were revealed by comparing the analysis increments and forecasts generated by the hybrid DA and 3DVAR. Additionally, for 24 h forecasts, the hybrid DA experiment with use of the full flow-dependent background error substantially outperformed 3DVAR in terms of the horizontal winds and temperature in the lower and mid-troposphere and for moisture at all levels.

This study is Part II of the effort to improve the forecasting of sudden stratospheric warming (SSW) events by using a version of the Navy Operational Global Atmospheric Prediction System (NOGAPS) that covers the full stratosphere. In Part I, extended-range (3 week) hindcast experiments (without data assimilation) for the January 2009 Arctic major SSW were performed using NOGAPS with a unified orographic drag parameterization that consists of the schemes employed by Webster et al., as well as Kim and Arakawa and Kim and Doyle. Part I demonstrated that the model with upgraded middle-atmospheric orographic drag physics better forecasts the magnitude and evolution of the SSW and better simulates the trend of the Arctic Oscillation (AO) index. In this study (Part II), a series of 5-day hindcast experiments is performed with cycling data assimilation using the Naval Research Laboratory Atmospheric Variational Data Assimilation System-Accelerated Representer (NAVDAS-AR), a four-dimensional variational data assimilation (4DVAR) system. Further efforts are made to improve the hindcasting of SSW by improving the satellite radiance bias correction process that strongly affects the data assimilation. The innovation (observation minus background) limit is optimally determined to reduce the rejection of useful radiance data. It is found that when the innovation limit is properly set, both the analysis and forecast of the SSW event can be improved, and that the orographic drag helps improve the SSW forecast.

A coupled ensemble square root filter–three-dimensional ensemble-variational hybrid (EnSRF–En3DVar) data assimilation (DA) system is developed for the operational Rapid Refresh (RAP) forecasting system. The En3DVar hybrid system employs the extended control variable method, and is built on the NCEP operational gridpoint statistical interpolation (GSI) three-dimensional variational data assimilation (3DVar) framework. It is coupled with an EnSRF system for RAP, which provides ensemble perturbations. Recursive filters (RF) are used to localize ensemble covariance in both horizontal and vertical within the En3DVar. The coupled En3DVar hybrid system is evaluated with 3-h cycles over a 9-day period with active convection. All conventional observations used by operational RAP are included. The En3DVar hybrid system is run at ⅓ of the operational RAP horizontal resolution or about 40-km grid spacing, and its performance is compared to parallel GSI 3DVar and EnSRF runs using the same datasets and resolution. Short-term forecasts initialized from the 3-hourly analyses are verified against sounding and surface observations. When using equally weighted static and ensemble background error covariances and 40 ensemble members, the En3DVar hybrid system outperforms the corresponding GSI 3DVar and EnSRF. When the recursive filter coefficients are tuned to achieve a similar height-dependent localization as in the EnSRF, the En3DVar results using pure ensemble covariance are close to EnSRF. Two-way coupling between EnSRF and En3DVar did not produce noticeable improvement over one-way coupling. Downscaled precipitation forecast skill on the 13-km RAP grid from the En3DVar hybrid is better than those from GSI 3DVar analyses.

In June 1990, the assimilation of synthetic tropical cyclone observations into the Navy Operational Global Atmospheric Prediction System (NOGAPS) was initiated at Fleet Numerical Oceanography Center (FNOC). These observations are derived directly from the information contained in the tropical cyclone warnings issued by the Joint Typhoon Warning Center (JTWC) and the National Hurricane Center. This paper describes these synthetic observations, the evolution of their use at FNOC, and the details of their assimilation into NOGAPS. The results of a comprehensive evaluation of the 1991 NOGAPS tropical cyclone forecast performance in the western North Pacific are presented. NOGAPS analysis and forecast position errors were determined for all tropical circulations of tropical storm strength or greater. It was found that, after the assimilation of synthetic observations, the NOGAPS spectral forecast model consistently maintained the tropical circulations as evidenced by detection percentages of 96%, 90% ...

The paper evaluates the meteorological quality and operational utility of the Navy Operational Global Atmospheric Prediction System (NOGAPS) in forecasting tropical cyclones. It is shown that the model can provide useful predictions of motion and formation on a real-time basis in the western North Pacific. The meterological characteristics of the NOGAPS tropical cyclone predictions are evaluated by examining the formation of low-level cyclone systems in the tropics and vortex structure in the NOGAPS analysis and verifying 72-h forecasts. The adjusted NOGAPS track forecasts showed equitable skill to the baseline aid and the dynamical model. NOGAPS successfully predicted unusual equatorward turns for several straight-running cyclones.

This paper examines the sensitivity of sea surface temperature (SST) to water turbidity in the Black Sea using the eddy-resolving (∼3.2-km resolution) Hybrid Coordinate Ocean Model (HYCOM), which includes a nonslab K-profile parameterization (KPP) mixed layer model. The KPP model uses a diffusive attenuation coefficient of photosynthetically active radiation (kPAR) processed from a remotely sensed dataset to take water turbidity into account. Six model experiments (expt) are performed with no assimilation of any ocean data and wind/thermal forcing from two sources: 1) European Centre for Medium-Range Weather Forecasts (ECMWF) reanalysis (ERA) and 2) Fleet Numerical Meteorology and Oceanography Center (FNMOC) Navy Operational Global Atmospheric Prediction System (NOGAPS). Forced with ECMWF, experiment 1 uses spatially and monthly varying kPAR values over the Black Sea, experiment 2 assumes all of the solar radiation is absorbed at the sea surface, and experiment 3 uses a constant kPAR value of 0.06 m−1, representing clear-water constant solar attenuation depth of 16.7 m. Experiments 4, 5, and 6 are twins of 1, 2, and 3 but forced with NOGAPS. The monthly averaged model SSTs resulting from all experiments are then compared with a fine-resolution (∼9 km) satellite-based monthly SST climatology (the Pathfinder climatology). Because of the high turbidity in the Black Sea, it is found that a clear-water constant attenuation depth (i.e., expts 3 and 6) results in SST bias as large as 3°C in comparison with standard simulations (expts 1 and 4) over most of the Black Sea in summer. In particular, when using the clear-water constant attenuation depth as opposed to using spatial and temporal kPAR, basin-averaged rms SST difference with respect to the Pathfinder SST climatology increases ∼46% (from 1.41°C in expt 1 to 2.06°C in expt 3) in the ECMWF forcing case. Similarly, basin-averaged rms SST difference increases ∼36% (from 1.39°C in expt 4 to 1.89°C in expt 6) in the NOGAPS forcing case. The standard HYCOM simulations (expts 1 and 4) have a very high basin-averaged skill score of 0.95, showing overall model success in predicting climatological SST, even with no assimilation of any SST data. In general, the use of spatially and temporally varying turbidity fields is necessary for the Black Sea OGCM studies because there is strong seasonal cycle and large spatial variation in the solar attenuation coefficient, and an additional simulation using a constant kPAR value of 0.19 m−1, the Sea-Viewing Wide Field-of-View Sensor (SeaWiFS) space–time mean for the Black Sea, did not yield as accurate SST results as experiments 1 and 4. Model–data comparisons also revealed that relatively large HYCOM SST errors close to the coastal boundaries can be attributed to the misrepresentation of land– sea mask in the ECMWF and NOGAPS products. With the relatively accurate mask used in NOGAPS, HYCOM demonstrated the ability to simulate accurate SSTs in shallow water over the broad northwest shelf in the Black Sea, a region of large errors using the inaccurate mask in ECMWF. A linear relationship is found between changes in SST and changes in heat flux below the mixed layer. Specifically, a change of ∼50 W m−2 in sub-mixed-layer heat flux results in a SST change of ∼3.0°C, a value that occurs when using clear-water constant attenuation depth rather than monthly varying kPAR in the model simulations, clearly demonstrating potential impact of penetrating solar radiation on SST simulations.

The convective parameterization of Emanuel has been employed in the forecast model of the Navy Operational Global Atmospheric Prediction System (NOGAPS) since 2000, when it replaced a version of the relaxed Arakawa–Schubert scheme. Although in long-period data assimilation forecast tests the Emanuel scheme has been found to perform quite well in NOGAPS, particularly for tropical cyclones, some weaknesses have also become apparent. These weaknesses include underprediction of heavy-precipitation events, too much light precipitation, and unrealistic heating at upper levels. Recent research efforts have resulted in modifications of the scheme that are designed to reduce such problems. One change described here involves the partitioning of the cloud-base mass flux into mixing cloud mass flux at individual levels. The new treatment significantly reduces a heating anomaly near the tropopause that is associated with a large amount of mixing cloud mass flux ascribed to that region in the original Emanuel ...

A high-order accurate radiative transfer (RT) model developed by Fu and Liou has been implemented into the Navy Operational Global Atmospheric Prediction System (NOGAPS) to improve the energy budget and forecast skill. The Fu–Liou RT model is a four-stream algorithm (with a two-stream option) integrating over 6 shortwave bands and 12 longwave bands. The experimental 10-day forecasts and analyses from data assimilation cycles are compared with the operational output, which uses a two-stream RT model of three shortwave and five longwave bands, for both winter and summer periods. The verifications against observations of radiosonde and surface data show that the new RT model increases temperature accuracy in both forecasts and analyses by reducing mean bias and root-mean-square errors globally. In addition, the forecast errors also grow more slowly in time than those of the operational NOGAPS because of accumulated effects of more accurate cloud–radiation interactions. The impact of parameterized cloud effective radius in estimating liquid and ice water optical properties is also investigated through a sensitivity test by comparing with the cases using constant cloud effective radius to examine the temperature changes in response to cloud scattering and absorption. The parameterization approach is demonstrated to outperform that of constant radius by showing smaller errors and better matches to observations. This suggests the superiority of the new RT model relative to its operational counterpart, which does not use cloud effective radius. An effort has also been made to improve the computational efficiency of the new RT model for operational applications.

The tropical cyclone (TC) track forecasts of the Navy Operational Global Atmospheric Prediction System (NOGAPS) were evaluated for a number of data assimilation experiments conducted using observational data from two periods: 4 July–31 October 2005 and 1 August–30 September 2006. The experiments were designed to illustrate the impact of different types of satellite observations on the NOGAPS TC track forecasts. The satellite observations assimilated in these experiments consisted of feature-track winds from geostationary and polar-orbiting satellites, Special Sensor Microwave Imager (SSM/I) total column precipitable water and wind speeds, Advanced Microwave Sounding Unit-A (AMSU-A) radiances, and Quick Scatterometer (QuikSCAT) and European Remote Sensing Satellite-2 (ERS-2) scatterometer winds. There were some differences between the results from basin to basin and from year to year, but the combined results for the 2005 and 2006 test periods for the North Pacific and Atlantic Ocean basins indicated that the assimilation of the feature-track winds from the geostationary satellites had the most impact, ranging from 7% to 24% improvement in NOGAPS TC track forecasts. This impact was statistically significant at all forecast lengths. The impact of the assimilation of SSM/I precipitable water was consistently positive and statistically significant at all forecast lengths. The improvements resulting from the assimilation of AMSU-A radiances were also consistently positive and significant at most forecast lengths. There were no significant improvements/degradations from the assimilation of the other satellite observation types [e.g., Moderate Resolution Imaging Spectroradiometer (MODIS) winds, SSM/I wind speeds, and scatterometer winds]. The assimilation of all satellite observations resulted in a gain in skill of roughly 12 h for the NOGAPS 48- and 72-h TC track forecasts and a gain in skill of roughly 24 h for the 96- and 120-h forecasts. The percent improvement in these forecasts ranged from almost 20% at 24 h to over 40% at 120 h.

Daily inter-annual simulations of SST and MLD using atmospherically forced OGCMs: Model evaluation in comparison to buoy time series

A very strong Arctic major sudden stratospheric warming (SSW) event occurred in late January 2009. The stratospheric temperature climbed abruptly and the zonal winds reversed direction, completely splitting the polar stratospheric vortex. A hindcast of this event is attempted by using the Navy Operational Global Atmospheric Prediction System (NOGAPS), which includes the full stratosphere with its top at around 65 km. As Part I of this study, extended-range (3 week) forecast experiments are performed using NOGAPS without the aid of data assimilation. A unified parameterization of orographic drag is designed by combining two parameterization schemes; one by Webster et al., and the other by Kim and Arakawa and Kim and Doyle. With the new unified orographic drag scheme implemented, NOGAPS is able to reproduce the salient features of this Arctic SSW event owing to enhanced planetary wave activity induced by more comprehensive subgrid-scale orographic drag processes. The impact of the SSW on the tropospheric circulation is also investigated in view of the Arctic Oscillation (AO) index, which calculated using 1000-hPa geopotential height. The NOGAPS with upgraded orographic drag physics better simulates the trend of the AO index as verified by the Met Office analysis, demonstrating its improved stratosphere–troposphere coupling. It is argued that the new model is more suitable for forecasting SSW events in the future and can serve as a tool for studying various stratospheric phenomena.

The Navy Operational Global Atmospheric Prediction System (NOGAPS) has proven itself to be competitive with any of the large forecast models run by the large operational forecast centers around the world. The navy depends on NOGAPS for an astonishingly wide range of applications, from ballistic winds in the stratosphere to air-sea fluxes to drive ocean general circulation models. Users of these applications will benefit from a better understanding of how a system such as NOGAPS is developed, what physical assumptions and compromises have been made, and what they can reasonably expect in the future as the system continues to evolve. The discussions will be equally relevant for users of products from other large forecast centers, e.g., National Meteorological Center, European Centre for Medium-Range Weather Forecasts. There is little difference in the scientific basis of the models and the development methodologies used for their development. However, the operational priorities of each center and t...

A set of criteria is developed to identify tropical cyclone (TC) formations in the Navy Operational Global Atmospheric Prediction System (NOGAPS) analyses and forecast fields. Then the NOGAPS forecasts of TC formations from 1997 to 1999 are verified relative to a formation time defined to be the first warning issued by the Joint Typhoon Warning Center. During these three years, the spatial distributions of TC formations were strongly affected by an El Nino–Southern Oscillation event. The successful NOGAPS predictions of formation within a maximum separation threshold of 4° latitude are about 70%–80% for 24-h forecasts, and drop to about 20%–30% for 120-h forecasts. The success rate is higher for formations in the South China Sea and between 160°E and 180° but is generally lower between 120° and 160°E. The composite 850-hPa large-scale flow for the formations between 120° and 160°E is similar to a monsoon confluence region with marked cross-equatorial flow. Therefore, it is concluded that the skil...

A high-altitude version of the Navy Operational Global Atmospheric Prediction System (NOGAPS) spectral forecast model is used to simulate the unusual September 2002 Southern Hemisphere stratospheric major warming. Designated as NOGAPS-Advanced Level Physics and High Altitude (NOGAPS-ALPHA), this model extends from the surface to 0.005 hPa (∼85 km altitude) and includes modifications to multiple components of the operational NOGAPS system, including a new radiative heating scheme, middle-atmosphere gravity wave drag parameterizations, hybrid vertical coordinate, upper-level meteorological initialization, and radiatively active prognostic ozone with parameterized photochemistry. NOGAPS-ALPHA forecasts (hindcasts) out to 6 days capture the main features of the major warming, such as the zonal mean wind reversal, planetary-scale wave amplification, large upward Eliassen–Palm (EP) fluxes, and splitting of the polar vortex in the middle stratosphere. Forecasts beyond 6 days have reduced upward EP flux in the lower stratosphere, reduced amplitude of zonal wavenumbers 2 and 3, and a middle stratospheric vortex that does not split. Three-dimensional EP-flux diagnostics in the troposphere reveal that the longer forecasts underestimate upward-propagating planetary wave energy emanating from a significant blocking pattern over the South Atlantic that played a large role in forcing the major warming. Forecasts of less than 6 days are initialized with the blocking in place, and therefore are not required to predict the blocking onset. For a more thorough skill assessment, NOGAPS-ALPHA forecasts over 3 weeks during September–October 2002 are compared with operational NOGAPS 5-day forecasts made at the time. NOGAPS-ALPHA forecasts initialized with 2002 operational NOGAPS analyses show a modest improvement in skill over the NOGAPS operational forecasts. An additional, larger improvement is obtained when NOGAPS-ALPHA is initialized with reanalyzed 2002 fields produced with the currently operational (as of October 2003) Naval Research Laboratory (NRL) Atmospheric Variational Data Assimilation System (NAVDAS). Thus the combination of higher model top, better physical parameterizations, and better initial conditions all yield improved forecasting skill over the NOGAPS forecasts issued operationally at the time.