Particle filtering and ensemble Kalman filtering for state updating with hydrological conceptual rainfall-runoff models

[ 1] Sequential importance resampling (SIR) filter, residual resampling filter (RR), and an ensemble Kalman (EnKF) filter that can handle dynamic nonlinear/non-Gaussian models are compared to correct erroneous model inputs and to obtain a rainfall-runoff update with a conceptual rainfall-runoff model HBV-96 for flood forecasting purposes. EnKF performs best with a low number of ensemble members. The RR filter performs best at intermediate and high number of particles, although differences are small. With all filters the rainfall error could be estimated during a synthetic experiment when the soil is not too dry and the measurement error on the discharge is not dominant. The temperature error could only be estimated when the temperature is close to 0 degrees C. When applying these methods to a real case, good results are obtained. For low flows, EnKF outperforms both particle filters, because it is less sensitive to misspecification of the model and uncertainties. These methods are feasible and easy to implement in real flood forecasting systems. Further research on the assumptions on model uncertainties and measurement uncertainties is recommended.