Abstract This paper estimates a two-component energy balance model as a linear state-space system (EBM-SS model) using historical data. It is a joint model for the temperature in the mixed layer, the temperature in the deep ocean layer, and radiative forcing. The EBM-SS model allows for the modeling of nonstationarity in forcing and the incorporation of multiple data sources for the unobserved processes. We estimate the EBM-SS model using historical datasets at the global level for the period 1955–2020 by maximum likelihood. We show in the empirical estimation and in simulations that using multiple data sources for the unobserved processes reduces parameter estimation uncertainty. When fitting the EBM-SS model to six observational global mean surface temperature (GMST) anomaly series, the GMST projections under representative concentration pathway scenarios are comparable to those from Coupled Model Intercomparison Project models. The results show that a simple statistical climate model estimated on the historical period can produce GMST projections compatible with output from large-scale Earth system models. Significance Statement We develop a statistical model to understand Earth’s energy balance and how it impacts temperature across the planet’s surface and deep oceans. Unlike previous approaches, ours is fully statistical. This means that we use maximum likelihood to calculate the estimates and evaluate the level of uncertainty in the model’s parameters. By applying the model to historical data from 1955 to 2020, we are able to make predictions about the average global surface temperature that are consistent with those from the Coupled Model Intercomparison Project. Our findings support current predictions about global temperatures using a straightforward statistical climate model, grounded in historical data.
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