Estimating the Uncertain Mathematical Structure of Hydrological Model via Bayesian Data Assimilation

The structure of hydrological model at macro scale (e.g. watershed) is inherently uncertain due to many factors, including the lack of a robust hydrological theory at the macro scale. In this work, we assume that a suitable conceptual model for the hydrologic system has already been determined - i.e., the system boundaries have been specified, the important state variables and input and output fluxes to be included have been selected, and the major hydrological processes and geometries of their interconnections have been identified. The structural identification problem then is to specify the mathematical form of the relationships between the inputs, state variables and outputs, so that a computational model can be constructed for making simulations and/or predictions of system input-state-output behaviour. We show how Bayesian data assimilation can be used to merge both prior beliefs in the form of pre-assumed model equations with information derived from the data to construct a posterior model. The approach, entitled Bayesian Estimation of Structure (BESt), is used to estimate a hydrological model for a small basin in England, at hourly time scales, conditioned on the assumption of 3-dimensional state - soil moisture storage, fast and slow flow stores - conceptual model structure. Inputs to the system are precipitation and potential evapotranspiration, and outputs are actual evapotranspiration and streamflow discharge. Results show the difference between prior and posterior mathematical structures, as well as provide prediction confidence intervals that reflect three types of uncertainty: due to initial conditions, due to input and due to mathematical structure.