Detecting and Testing for Structural Error in Computer Models with Application to the Community Atmospheric Model
Bayesian calibration/inversion methods for uncertain input parameters to simulation codes have generated an increasing amount of interest in the climate community in the recent years. This approach uses multiple disparate observational datasets related to the output of the simulator of interest to yield a probabilistic constraint on the uncertain inputs (i.e. probability distribution). A major challenge in applying Bayesian calibration methods to simulation codes is related to the possible presence of a large structural error in the output fields of interest; that is, the presence of discrepancy between the observed and the simulated output that is neither explained by the uncertainty in the inputs nor the observations. We present here methods to test for and visualize structural error in an ensemble of input-perturbed simulations. The methods are based on bootstrap (resmpling) test statistics and well-known metrics to quantify the difference between two probability distributions. The proposed methods are demonstrated using selected precipitation output fields of the Community Atmospheric Model (CAM), which are compared to observations provided by the Global Precipitation Climatology Project (GPCP). The methods are found to be useful in identifying regions and seasons with a large structural error. The proposed structural error detection methodology can be used to screen multiple observational datasets of interest for structural error, making it possible to retain only the datasets with a small structural error for use in Bayesian calibration. In addition, information about the amount of structural error can be valuable to model developers.