A spectral hybridizable discontinuous Galerkin method for elastic-acoustic wave propagation
Résumé
We introduce a time-domain, high-order in space, hybridizable discontinuous Galerkin (DG) spectral element method (HDG-SEM) for wave equations in coupled elastic-acoustic media. The method is based on a first-order hyperbolic velocity-strain formulation of the wave equations written in conservative form. This method follows the HDG approach by introducing a hybrid unknown, which is the approximation of the velocity on the elements boundaries, as the only globally (i.e. interelement) coupled degrees of freedom. In this paper, we first present a hybridized formulation of the exact Riemann solver at the element boundaries, taking into account elastic-elastic, acoustic-acoustic and elastic-acoustic interfaces. We then use this Riemann solver to derive an explicit construction of the HDG stabilization function τ for all the above-mentioned interfaces. We thus obtain an HDG scheme for coupled elastic-acoustic problems. This scheme is then discretized in space on quadrangular/hexahedral meshes using arbitrary high-order polynomial basis for both volumetric and hybrid fields, using an approach similar to the spectral element methods. This leads to a semi-discrete system of algebraic differential equations (ADEs), which thanks to the structure of the global conservativity condition can be reformulated easily as a classical system of first-order ordinary differential equations in time, allowing the use of classical explicit or implicit time integration schemes. When an explicit time scheme is used, the HDG method can be seen as a reformulation of a DG with upwind fluxes. The introduction of the velocity hybrid unknown leads to relatively simple computations at the element boundaries which, in turn, makes the HDG approach competitive with the DG-upwind methods. Extensive numerical results are provided to illustrate and assess the accuracy and convergence properties of this HDG-SEM. The approximate velocity is shown to converge with the optimal order of k + 1 in the L2-norm, when element polynomials of order k are used, and to exhibit the classical spectral convergence of SEM. Additional inexpensive local post-processing in both the elastic and the acoustic case allow to achieve higher convergence orders. The HDG scheme provides a natural framework for coupling classical, continuous Galerkin SEM with HDG-SEM in the same simulation, and it is shown numerically in this paper. As such, the proposed HDG-SEM can combine the efficiency of the continuous SEM with the flexibility of the HDG approaches. Finally, more complex numerical results, inspired from real geophysical applications, are presented to illustrate the capabilities of the method for wave propagation in heterogeneous elastic-acoustic media with complex geometries.
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