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Abstract Soil moisture (SM) and evapotranspiration (ET) are key variables of the terrestrial water cycle with a strong relationship. This study examines remotely sensed soil moisture and evapotranspiration data assimilation (DA) with the aim of improving drought monitoring. Although numerous efforts have gone into assimilating satellite soil moisture observations into land surface models to improve their predictive skills, little attention has been given to the combined use of soil moisture and evapotranspiration to better characterize hydrologic fluxes. In this study, we assimilate two remotely sensed datasets, namely, Soil Moisture Operational Product System (SMOPS) and MODIS evapotranspiration (MODIS16 ET), at 1-km spatial resolution, into the VIC land surface model by means of an evolutionary particle filter method. To achieve this, a fully parallelized framework based on model and domain decomposition using a parallel divide-and-conquer algorithm was implemented. The findings show improvement in soil moisture predictions by multivariate assimilation of both ET and SM as compared to univariate scenarios. In addition, monthly and weekly drought maps are produced using the updated root-zone soil moisture percentiles over the Apalachicola–Chattahoochee–Flint basin in the southeastern United States. The model-based estimates are then compared against the corresponding U.S. Drought Monitor (USDM) archive maps. The results are consistent with the USDM maps during the winter and spring season considering the drought extents; however, the drought severity was found to be slightly higher according to DA method. Comparing different assimilation scenarios showed that ET assimilation results in wetter conditions comparing to open-loop and univariate SM DA. The multivariate DA then combines the effects of the two variables and provides an in-between condition. 

This article presents a novel approach to couple a deterministic four‐dimensional variational (4DVAR) assimilation method with the particle filter (PF) ensemble data assimilation system, to produce a robust approach for dual‐state‐parameter estimation. In our proposed method, the Hybrid Ensemble and Variational Data Assimilation framework for Environmental systems (HEAVEN), we characterize the model structural uncertainty in addition to model parameter and input uncertainties. The sequential PF is formulated within the 4DVAR system to design a computationally efficient feedback mechanism throughout the assimilation period. In this framework, the 4DVAR optimization produces the maximum a posteriori estimate of state variables at the beginning of the assimilation window without the need to develop the adjoint of the forecast model. The 4DVAR solution is then perturbed by a newly defined prior error covariance matrix to generate an initial condition ensemble for the PF system to provide more accurate and reliable posterior distributions within the same assimilation window. The prior error covariance matrix is updated from one cycle to another over the main assimilation period to account for model structural uncertainty resulting in an improved estimation of posterior distribution. The premise of the presented approach is that it (1) accounts for all sources of uncertainties involved in hydrologic predictions, (2) uses a small ensemble size, and (3) precludes the particle degeneracy and sample impoverishment. The proposed method is applied on a nonlinear hydrologic model and the effectiveness, robustness, and reliability of the method is demonstrated for several river basins across the United States.