Development of the Nonstationary Incremental Analysis Update Algorithm for Sequential Data Assimilation System

Figure 7

The time averaged (from day 0 to day 10) forecast RMS error (RMSE) initialized using the EKF, the IAU (forward), the centered IAU, the NIAU, and the NIAU with the reconstructed TLM. Note that the initial condition is obtained after a 10-day assimilation for each case, which is the same as in the assimilation experiment. The dotted line denotes the 95% confidence level of the forecast RMSE in the IAU (forward).