A Reynolds-Semi-Robust, Globally Divergence-Free E-HDG/IMEX-SAV Method for Variational Initial-State Data Assimilation of the Navier-Stokes Equations

This paper develops an embedded-hybridized discontinuous Galerkin (E-HDG) method combined with a first-order implicit-explicit scalar auxiliary variable (IMEX-SAV) time discretization for variational initial-state data assimilation governed by the unsteady incompressible Navier-Stokes equations. We adopt an optimize-then-discretize strategy. The spatial discretization uses discontinuous piecewise polynomials of degrees $k$ and $k-1$ for the element velocity and pressure, respectively, a continuous degree-$k$ velocity trace, and a discontinuous degree-$k$ pressure trace. The resulting state and adjoint velocities, as well as the reconstructed initial velocity, are globally divergence-free. The forward IMEX-SAV state scheme is unconditionally energy stable. Under suitable regularity and local-trajectory assumptions whose bounds introduce no explicit negative powers of the viscosity, the mesh-dependent condition $\mathrm{\Delta }t\lesssim h^2$, and a contractivity condition on the Tikhonov parameter, we establish local existence and uniqueness of the fully discrete OTD optimality system and Reynolds-semi-robust $L^2$ error estimates of order $O(h^k+\mathrm{\Delta }t)$ for the state, adjoint and reconstructed initial velocities; the constants contain no explicit negative powers of the viscosity. Numerical experiments confirm convergence on smooth tests and demonstrate machine-precision discrete incompressibility, effective nonlinear-solver behavior, and stable performance in small-viscosity regimes.