A Conjugate Gradient Formulation of the EnKF Algorithm
Ensemble Kalman Filter (EnKF) based data assimilation algorithms synthesize predictive numerical forecast models with accumulated data as time evolves and account for model uncertainty and noisy measurements. The computational cost of these algorithms can be expensive, in particular for highly dimensional dynamical systems. Often, EnKF based algorithms have traded accuracy for reduced computational cost. In this paper, we present a novel parallelizable Conjugate Gradient-based Ensemble Kalman Filter (CGD-EnKF) algorithm that maintains comparable computational cost to efficient algorithms while realizing better state estimation accuracy in select cases. Here, we established the new approach by reformulating a matrix inverse calculation with a classical Conjugate Gradient (CGD) method. In addition, we discuss the upper error bound under CGD, error convergence to the classical EnKF result, and the computational complexity of the algorithm. We also showcase the CGD-EnKF-Reduced algorithm that is shown to be further computationally efficient for highly dimensional dynamical systems under small ensemble formulation. Numerical examples demonstrate the performance of our proposed algorithms and analytical properties, highlighting their comparability and advantages with respect to some benchmark EnKF algorithms.