A strategy to overcome adverse effects of autoregressive updating of streamflow predictions

For streamflow forecasting applications, rainfall–runoff hydrological models are often augmented with updating procedures that correct streamflow predictions based on the latest available observations of streamflow and their departures from model simulations. The most popular approach uses autoregressive (AR) models that exploit the "memory" in hydrological model simulation errors. AR models may be applied to raw errors directly or to normalised errors. In this study, we demonstrate that AR models applied in either way can sometimes cause over-correction of predictions. In using an AR model applied to raw errors, the over-correction usually occurs when streamflow is rapidly receding. In applying an AR model to normalised errors, the over-correction usually occurs when streamflow is rapidly rising. Furthermore, when parameters of a hydrological model and an AR model are estimated jointly, the AR model applied to normalised errors sometimes degrades the stand-alone performance of the base hydrological model. This is not desirable for forecasting applications, as predictions should rely as much as possible on the base hydrological model, and updating should be applied only to correct minor errors. To overcome the adverse effects of the ordinary AR models, a restricted AR model applied to normalised errors is introduced. The new model is evaluated on a number of catchments and is shown to reduce over-correction and to improve the performance of the base hydrological model considerably.