Shallow water calculation of circulation for Gulf of Riga
J.Sennikovs, U.Bethers, University of Latvia

Introduction
 

The Gulf of Riga is a well-defined semi enclosed water basin (see fig. 1) connected with the Baltic Proper by two straits. The Irbe strait is rather wide (30 km) with the sill depth about 20 m, while the Muhu strait is rather narrow (5-10 km) and shallow (minimum depth 10-12 m). Both straits have a complex topology and depth distribution [1]. There are seven islands in the Gulf of Riga. Most of them are near the northern cost, except for Ruhnu, that is located in the central part. The depth in the central and southern part is 40-50 m, but in the northern part 15-20 m, average depth of the Gulf is 25.5 m [2]. The coastal line is rather smooth at the Latvian coast and Estonian coast near the Gulf of Pärnu, but it has the strongly varying curvature along the coast of Saaremaa. The quite complex bathymetry and boundary, complicity of the circulation and external influence characterizes Gulf as an interesting and difficult object for the simulation of the physical processes.
Figure 1. Gulf of Riga. Finite element mesh.
Adequate modelling of the physical processes is unsolved problem for the Gulf for a while. The physical structure of the Gulf is rather complicated and usually shows a three-dimensional behaviour. Development of the fully 3D operational hydrodynamical model requires proper understanding of the physics of the Gulf what can be achieved by means of development of the pilot models for the particular physical effects. This is especially important, because the verification of the 3D hydrodynamical models for large natural basins would be a problem itself.

The model of the vertical temperature and salinity structure of the Gulf of Riga carried out in [3] can be considered as the first step to the development of the 3D model and understanding of the vertical structure of the physical parameters. Next step must provide investigation of the horizontal structure of the Gulf and the development of an appropriate model for it. The main objective of this paper is to investigate the possibility to employ the shallow water equations for the calculation of the circulation in the Gulf of Riga. Calculations of the typical flow patterns as well as real-time calculations for selected time periods are also included in the paper.
 

Governing equations and numerical scheme

The shallow water equations (SWE) in conservative form [4] in the Boussinesq approximation stand as follows:
 
 (1)
(2)
 where is the unit-width discharge, x is the elevation over a reference plane, h is the depth of the water column, m is the turbulent momentum exchange coefficient, g is the acceleration due to gravity, is the angular velocity of the Earth, C is the Chezy coefficient, is the wind velocity, is the drag coefficient for the air flow over water (Cd = 1.1× 10-3 in the present paper), is the density of air, is the reference density of the water (r 0 = 1000 kg× m-3), is the deviation from reference density, pa is the air pressure. These are standard SWE, except for the last term in the right hand side of (1), which represents additional pressure gradient due to the density gradient [4]. The equation of the state of the sea water [5] is used for determination of as a function of temperature (T) and salinity (S). The transport equations are used for T and S
(3)
 where c stands either for T or S, is velocity and Dc is the respective turbulent exchange coefficient.

The numerical scheme for solving (1)+(2) proposed in [6] is adapted here. The main advantages [6] of it are the unconditional stability and the absence of the spurious oscillations in the elevation field. An equation splitting is used at every time step to decouple the physical contributions. Convective transport is solved by means of using lagrangian scheme [7]. Spatial discretization of (1)+(2)+(3) is implemeneted using the standard Galerkin finite element method [8].

Density term in (1)+(2) causes interesting consequence. As density is the function of temperature and salinity, it is possible to write following equations:
 
(4)
(5)
Assuming non-diffusive case, summing up (3) for T and S, and using (2), it is possible to derive following transport equation for density:
(6)
Important conclusion from (6) is that at the steady state the streamlines must be parallel to the isolines of density as well as to the isolines of temperature and salinity.

The lagrangian integration does not allow to implement the free-slip boundary conditions (BC) in the weak way just neglecting the contour integral [6] arising from the integration by parts of the convective terms in the weak form of (1)+(2). Therefore the condition =0 is used in [6] for the coastal boundaries of the computational domain. This boundary condition does not allow the convective transport of salinity and temperature along the boundary. Hence, changes in T and S at the boundary are due only to the diffusion in that case. There is no aim to model the thermal and concentration boundary layers, and no mesh refinement that would allow convective transport close enough to the boundary is anticipated. Therefore it is intended to use enhanced free-slip BC for the discharge at the closed boundary in the present paper. The system of linear algebraic equations is obtained after finite element discretization for each component of the discharge. Implementation of the free-slip BC has as a major consequence coupling of the both those systems. There are the two uncoupled equations before imposing BC at each node i of the computational mesh:
(7)
(8)
where qix and qiy are the x and y components of the discharge at the node i, Aij is the element of the stiffness matrix, bix and biy are the right hand sides of the discretized equations at the node i. The procedure of imposing the free-slip BC is developed as follows. Free-slip BC can be expressed as , where =(nx, ny)T is the unit outward normal vector of the domain. Thus, applying BC at the boundary node i is enforced by replacing (7) and (8) by:
(9)
(10)
 where the first equation stands as BC itself and the second represents momentum equation for the tangential component of the discharge at point i. It is derived expressing qix  and qiy from (7) and (8) and putting them into the expression for tangential component of discharge -nyqix+nxqiy.The order of appearance of the new equations in the coupled system depends on the values of nx and ny. Diagonal predominance of the matrix is very useful for the rapid convergence of the iterative methods of solving the systems of the linear equations. Thus, it is convenient to rearrange equations according to the magnitudes of the diagonal elements.  qix or qiy from (9)is posed on the main diagonal of the coupled stiffness matrix if, respectively, |nx|<0.5 or |ny|<0.5. One unsymmetric system of linear equations is obtained instead of two symmetric systems of linear algebraic equations imposing free-slip BC. A proper unsymmetric solver is therefore required to solve it. The biconjugate gradient squared method [8] has been seen to be very effective for this purpose, and the version of it from NSPCG package [9] has been used. The main disadvantage here is the increased time of calculations due to more computational effort required to solve unsymmetric system.

Obviously, in the absence of the separation the boundary contours are streamlines. The lagrangian integration of the convective transport along the boundary has been implemented creating a sorted list of the boundary elements, extending approach of [7] where integration at lagrangian step is implemented for inside of the domain.

 Two Dirichlet boundary conditions for the system (1)+(2) must be prescribed at the inflow but one at the outflow from the point of view of characteristic theory [10]. The simple imposition of discharge and elevation according to the measurements is quite standard practice for the river and tidal flow calculations [7]. However, when considering larger water bodies as gulfs, one needs to take into account also impact of Coriolis force, as well as wind stress. Semi-enclosed water bodies as Gulf of Riga are usually joined with the larger water basins by straits. Open boundary conditions therefore are closely related to the strait modelling i.e. development of the strait model or at least assumption of the structure of the motion in the strait is needed to impose open boundary conditions. There is available a large set of the measurements of the elevation [11], but measurements of the velocity are not enough to give the appropriate model forcing. It is the main reason why the Dirichlet boundary conditions for the elevation in the straits are proposed in the present work. Examining linearised 2D-equations of motion including Coriolis acceleration [12], one can determine that setting constant elevation across the strait leads to the zero velocities on this boundary at the steady state. In more general case it leads to the strong non-physical turning of the velocity vectors to the right from the direction of the strait at the boundary (see fig. 2a) and to the possible unstability and non-conservation of mass in the numerical solution. Hence, the measured elevation data can be imposed only at one point of the strait (coastal point). At the other points of the open boundary imposition of proper elevation distribution is required according to some hypothesis of the motion in the strait.

The surface long waves propagate along the strait (which is assumed as straight channel) as plane waves without influence of rotation of the Earth. There are several possibilities [12] of waves in the rotational case:

Let us assume that geostrophic relation with additional influence of the wind stress and density gradient is satisfied across the strait. This condition can be written projecting equation (1) on the boundary and retaining only the terms related to the elevation gradient, the Coriolis force, the wind stress and the density gradient:
 
(11)
 where is an unit tangential vector on the boundary, f is the Coriolis parameter. (11) can be integrated to find the relationship between elevation and normal component of discharge on the open boundaries. Numerically it is implemented calculating BC for elevation at each time step using discharge from the previous time step. Following the above procedure one can suspect that the solution on the boundary should behave like in- and outcoming Kelvin waves with no component of velocity perpendicular to the direction of the strait in the steady state (see fig. 2b).
a b
Figure. 2. Dependence of flow on boundary conditions in the straits. Discharge vectors and  constant elevation lines.
One BC for salinity and temperature on inflow and no BC on outflow must be imposed in the case of (3) without diffusion [10]. Numerically it means that there cannot be prescribed Dirichlet BC on the outflow for the diffusion coefficients less than , where v is normal velocity at the outflow, -is the size of the mesh element. Dmin could reach high values oncoarse meshes (up to 200 m2/s). Therefore Dirichlet BC are not imposed on the outflow also for the low and medium diffusive cases in the present paper. The main difficulties from this approach may arise when the normal velocity at the boundary changes sign and outflow is replaced by inflow. The discontinues imposing of given T and S values are physically incorrect for this situation, especially after a large period of outflow. Mathematically it means that on the boundary time derivative becomes infinite. There were no attempts made to model such situations in the present paper. Numerical difficulties are avoided setting immediately after the condition of inflow <0 is satisfied.
 

Analysis of the application of SWE for Gulf of Riga

The dynamics of the water mass circulation in the Gulf of Riga are known to be determined by the following main factors:

The analysis of the limits of the model is important for a proper discussion of the results. Present model is two-dimensional and vertically integrated. Generally such a model cannot be suitable for the Gulf of Riga, as there is often present a distinct vertical stratification. However, in the time period November-March (excluding possible periods of ice cover from January till March) Gulf may be considered as nearly vertically homogenous [3]. Hence, November-December (and possibly October) is the only possibly time period for applying the model to the Gulf of Riga. The vertical stratification, however, is present at the Irbe strait also during these months. This should be taken into account when the results of simulation are interpreted.

The comparison of the calculated data with the measurements are intended to do in the following three ways. Only the first of them is implemented in this paper.

Steady state calculations

Selection of typical situations

Analysis of the steady-state flow patterns would be of interest for classifying the possible flow structures of the Gulf. However, one have to note, that there is no sense for the steady-state situations of the density field because they can be reached during time periods which far extend periods of more or less uniform forcing by the wind and air pressure. Taking into account that the differences in the air pressure over the Gulf can be neglected, as the ²typical² steady-state situations are assumed the ones with the uniform wind over the homogeneous Gulf and prescribed elevation difference between the Irbe and Muhu sounds. The calculation series for 8 different wind directions (D a =45° ), wind speed 7 m/s were performed. Summary of long-term (1977-95) mean water levels in the LHMA monitoring stations for the wind velocities 7± 1m/s, directions a ± 22.5° are summarized in table 1, and plotted for the most characteristic stations for Irbe sound (Ventspils), western (Roja), southern (Lielupe), and eastern (Salacgriva) parts of Gulf on Fig.3. The scheme of the locations of internal stations see Fig. 4.
Figure 3. Long term mean water levels at selected stations for W=6-8 m/s. Figure 4. Bathymetry of Gulf of Riga. Water level gauges of LHMA.
Wind
direction
Ventspils
Kolka
Roja
Mersrags
Lielupe
Daugavgriva
Skulte
Salacgriva
-3.47
-1.94
-1.88
-3.31
10.74
10.80
4.84
-0.05
45°
-6.93
-6.42
-8.04
-8.68
3.06
3.55
-2.49
-6.39
90°
-11.80
-12.04
-16.89
-17.84
-8.62
-7.90
-15.01
-17.64
135°
-5.37
-5.36
-10.32
-11.63
-4.83
-2.78
-7.39
-9.42
180°
6.86
8.14
6.96
5.15
12.15
15.59
11.66
10.56
225°
11.55
14.31
15.11
12.72
23.06
26.46
22.76
20.21
270°
11.27
14.25
14.74
11.95
26.24
28.64
24.56
19.88
315°
3.04
5.56
5.40
4.52
18.90
19.62
14.64
9.24
 Table 1. Average water levels at different monitoring station for different wind directions.

Water level in between Kolka and Ventspils means was set as boundary condition for the Irbe strait. Absence of representative time-series of water level for Muhu sound (Virtsu station) caused necessity to produce more artificial ² characteristic² boundary condition there. Assumption of plane mean water surface of the northern part (neglecting Lielupe and Daugavgriva stations with possible large fresh-water influence to water level) lead to a least square solution for the water level difference between Irbe and Muhu in table 2.
Wind direction 0° 45° 90° 135° 180° 225° 270° 315°
D h (Irbe-Muhu), cm 1.59 2.73 4.08 2.41 -2.37 -4.19 -2.44 0.20
Table 2. Applied elevation difference between Irbe and Muhu straits for different wind directions.
The numerical parameters C=100 m1/2/s, m=50 m2/s are used for all calculation series.
 

Discussion

The discharge and elevation for selected three wind directions (S, NE, and W) are plotted on figs. 5-7.
 
Figure 5.Water elevation and discharge fields. South wind 7 m/s. Elevation difference Irbe- Muhu -2,37 cm. Figure 6.Water elevation and discharge fields. North-East wind 7 m/s. Elevation difference  Irbe-Muhu -2,73 cm. Figure 7. Water elevation and discharge fields. West wind 7 m/s. Elevation difference Irbe- Muhu -2,44 cm.
The main features of the computed circulation patterns are as follows:


Real-time calculations

Real-time calculations are performed for two one-and-half months long time periods in autumns for which the water-level time-series at Virtsu was available, from 5-Oct-93 until 16-Nov-93, and from 16-Nov-94 until 31-Dec-94. The calculations are performed assuming homogeneous Gulf, applying uniform wind field from the measurements at Daugavgriva and water elevations measured at Ventspils and Virtsu. All the forcing parameters were available two to four times daily, linear interpolation was done in between the measurements. The histogram of the water level at the straits for both periods are shown on fig. 10 but the wind direction distribution is depicted on fig. 11.
Figure 10. Histogram of applied water levels for calculation periods. Figure 11. Wind direction probability for calculation periods.
The time periods are quite different from the point of the forcing conditions (the summary see table 4). The water level of the Gulf is almost half a meter lower in the first period with the higher atmosphere pressure and prevailing S winds. The observed water level fluctuations are higher at the Muhu strait, the average water level is slightly higher at Irbe for autumn-93, but vice-versa for autumn-94.
  X-XI/93 XI-XII/94
Average wind speed (m/s) 5.5 5.7
Prevailing wind direction S,SW SW,W
Average air pressure (mbar) 1020 1011
Average water level at Irbe (cm) -25 21
Water level fluctuations at Irbe (cm) -50/0 -5/51
Average water level at Virtsu (cm) -29 22
Water level fluctuation at Virtsu (cm) -64/14 -10/61
Irbe-Virtsu level difference (cm) -39/38 -30/21
 Table 4. Summary of forcing data for calculation periods.

Appropriate initial conditions are one of the problems for the real-time calculations. The measurements of the velocity covering all the Gulf for the fixed time moment are impossible, therefore the proper initial distribution of the velocity must be obtained in some different way. The influence of the initial conditions on the further development of the system must be evaluated. The time of the relaxation of the total kinetic energy after rapid changes in the applied external forcing can serve as the criterion of such an influence. The fast decreasing of the kinetic energy takes place after ending of the wind forcing (fig. 13). The time of relaxation is approximately 1 to 1.5 days and is small comparing to the typical calculation time period of 20 to 50 days. The extreme case of the rapid change of the wind direction by 180 degrees has been investigated, too (fig. 13).
Figure 13.Changes of the total kinetic energy of the Gulf after switch-off of the wind  forcing (dashed) and after change of the wind direction by 180° (solid).
The very fast decrease of the kinetic energy determined by wind takes place at the first 4 to 5 hours. Following 3 to 6 days are necessary to reach a nearly steady state determined by the new wind direction. The total calculated time of relaxation is 5 to 7 days, that is not rather small. However, so rapid change in forcing is rarely observable and for slower change this time is smaller. Above considerations lead to conclusion that influence of the initial conditions is not large and they can be obtained from the steady state calculation done with the constant values of the wind and applied elevation in the straits equal to the initial ones of the real-time calculations.

The comparison of the computed and measured water levels at the two stations for which the observations were available (Daugavgriva and Skulte) during calculation period are shown on fig. 12 and summarized in table 5. The disagreement between average water elevations is less than for steady-state calculations, mainly due the lower average wind velocities for both periods (5.6 m/s instead of 7 m/s for steady state calculations).
Figure 12a. Water level time-development at Daugavgriva and Salacgriva stations. X-XI/93.
Figure 12b. Water level time-development at Daugavgriva and Salacgriva stations. XI-XII/94.
 However, general agreement indicated in fig. 12 (calculated results are shifted to the values from table 3) is mainly due to the rather fast propagation of the applied boundary elevations into the whole Gulf with 3-4 hours delay. Occasional events of extreme water levels are not fetched by the model. Generally, the comparison indicates the necessity to include density field in the calculation and, possible, enhancement of the detalization of the calculation mesh near the coast. There are also the indications of the necessity to account for atmosphere pressure, for instance, high atmosphere pressure (~1030 mbar), and, probably, reasonable pressure gradients during 11-16-XI-93 in combination with NW winds caused an overestimation of the water levels at both stations.
  X-XI/93 XI-XII/94
Average water level at Daugavgriva (cm) -17 32
The same, calculated (not shifted) -25 21
Water level fluctuations at Daugavgriva (cm) -60/31 -7/94
The same, calculated -51/9 -4/49
Average water level at Salacgriva (cm) -25 26
The same, calculated (not shifted) -25 21
Water level fluctuations at Salacgriva (cm) -56/24 -12/68
The same, calculated -51/12 -4/50
 Table 5. Summary of water level comparison for Daugavgriva and Salacgriva stations.

The flow patterns during the real-time calculation indicate all the spectrum of features described in the previous section including various interswitching between the described characteristic flow patterns. However, the structure of vortexes lead to interesting conclusions regarding similar spreading of water masses during time periods with different forcing as the two under consideration. The illustration of below features see fig. 14 with flow-paths of passive tracer from sources at southern part of the Gulf, Irbe strait, Northern part of the Gulf, and Pärnu bay.
Figure 14. Spreading of passive tracer from selected locations for real-time calculation  periods X-XI/93 (a) and XI-XII/94 (b).


Conclusions

The formulation of the shallow water model for the Gulf of Riga has been given together with the physical situation analysis in the present paper. The attempt to find out the conditions of applicability of the model without accounting of the density field is performed, too.

The shallow water model can be applied for:

However, to reach quantitative agreement with measured elevation fields it seems necessary to include the density flows (i.e. accounting the salinity and temperature field calculations) and increase the spatial resolution near the coastline. Comparison with some velocity measurements are necessary to tune the model parameters as Chezy and horizontal exchange coefficients. These three improvement steps are available in the scope of proposed model to reach the essential limitations of the model as (i) permanent two-layer structure of the water masses at river months and Irbe strait, (ii) predominance of the vertical mixing of riverine water masses at southern part of the Gulf over the horizontal one.
 

Acknowledgements

This work has been in part supported by grant No. 93.311 of Latvian Science Council and the Finnish Institute of Marine Research within the framework of the ² Gulf of Riga Project² funded by the Nordic Council of Ministers. Authors owe Dr. Davide Ambrosi (CRS4, Italy) and Viesturs Berzins (Latvian Fisheries Research Institute) for many fruitful discussions and useful advices concerning, respectively, numerical realization and forcing data interpretation. We acknowledge Drs. Tarmo Kõuts (Estonian Hydrometeorological Agency) and Jevgeniy Zaharčenko (LHMA) for the access to the respective water level measurements.
 

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