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Abstract. Numerical models are a powerful tool for investigating the dynamic processes in the interior of the Earth and other planets, but the reliability and predictive power of these discretized models depends on the numerical method as well as an accurate representation of material properties in space and time. In the specific context of geodynamic models, particle methods have been applied extensively because of their suitability for advection-dominated processes and have been used in applications such as tracking the composition of solid rock and melt in the Earth's mantle, fluids in lithospheric- and crustal-scale models, light elements in the liquid core, and deformation properties like accumulated finite strain or mineral grain size, along with many applications outside the Earth sciences. There have been significant benchmarking efforts to measure the accuracy and convergence behavior of particle methods, but these efforts have largely been limited to instantaneous solutions, or time-dependent models without analytical solutions. As a consequence, there is little understanding about the interplay of particle advection errors and errors introduced in the solution of the underlying transient, nonlinear flow equations. To address these limitations, we present two new dynamic benchmarks for transient Stokes flow with analytical solutions that allow us to quantify the accuracy of various advection methods in nonlinear flow. We use these benchmarks to measure the accuracy of our particle algorithm as implemented in the ASPECT geodynamic modeling software against commonly employed field methods and analytical solutions. In particular, we quantify if an algorithm that is higher-order accurate in time will allow for better overall model accuracy and verify that our algorithm reaches its intended optimal convergence rate. We then document that the observed increased accuracy of higher-order algorithms matters for geodynamic applications with an example of modeling small-scale convection underneath an oceanic plate and show that the predicted place and time of onset of small-scale convection depends significantly on the chosen particle advection method. Descriptions and implementations of our benchmarks are openly available and can be used to verify other advection algorithms. The availability of accurate, scalable, and efficient particle methods as part of the widely used open-source code ASPECT will allow geodynamicists to investigate complex time-dependent geodynamic processes such as elastic deformation, anisotropic fabric development, melt generation and migration, and grain damage. 

SUMMARY Combining finite element methods for the incompressible Stokes equations with particle-in-cell methods is an important technique in computational geodynamics that has been widely applied in mantle convection, lithosphere dynamics and crustal-scale modelling. In these applications, particles are used to transport along properties of the medium such as the temperature, chemical compositions or other material properties; the particle methods are therefore used to reduce the advection equation to an ordinary differential equation for each particle, resulting in a problem that is simpler to solve than the original equation for which stabilization techniques are necessary to avoid oscillations. On the other hand, replacing field-based descriptions by quantities only defined at the locations of particles introduces numerical errors. These errors have previously been investigated, but a complete understanding from both the theoretical and practical sides was so far lacking. In addition, we are not aware of systematic guidance regarding the question of how many particles one needs to choose per mesh cell to achieve a certain accuracy. In this paper we modify two existing instantaneous benchmarks and present two new analytic benchmarks for time-dependent incompressible Stokes flow in order to compare the convergence rate and accuracy of various combinations of finite elements, particle advection and particle interpolation methods. Using these benchmarks, we find that in order to retain the optimal accuracy of the finite element formulation, one needs to use a sufficiently accurate particle interpolation algorithm. Additionally, we observe and explain that for our higher-order finite-element methods it is necessary to increase the number of particles per cell as the mesh resolution increases (i.e. as the grid cell size decreases) to avoid a reduction in convergence order. Our methods and results allow designing new particle-in-cell methods with specific convergence rates, and also provide guidance for the choice of common building blocks and parameters such as the number of particles per cell. In addition, our new time-dependent benchmark provides a simple test that can be used to compare different implementations, algorithms and for the assessment of new numerical methods for particle interpolation and advection. We provide a reference implementation of this benchmark in aspect (the ‘Advanced Solver for Problems in Earth’s ConvecTion’), an open source code for geodynamic modelling.