Saddle point preconditioners for weak-constraint 4D-Var

Data assimilation algorithms combine information from observations and prior model information to obtain the most likely state of a dynamical system. The linearised weak-constraint four-dimensional variational assimilation problem can be reformulated as a saddle point problem, in order to exploit highly parallel modern computer architectures. In this setting, the choice of preconditioner is crucial to ensure fast convergence and retain the inherent parallelism of the saddle point formulation. We propose new preconditioning approaches for the model term and observation error covariance term which lead to fast convergence of preconditioned Krylov subspace methods, and many of these suggested approximations are highly parallelisable. In particular our novel approach includes model information in the model term within the preconditioner, which to our knowledge has not previously been considered for data assimilation problems. We develop new theory demonstrating the effectiveness of the new preconditioners. Linear and non-linear numerical experiments reveal that our new approach leads to faster convergence than existing state-of-the-art preconditioners for a broader range of problems than indicated by the theory alone. We present a range of numerical experiments performed in serial, with further improvements expected if the highly parallelisable nature of the preconditioners is exploited.