Entropy-split multidimensional summation-by-parts discretization of the Euler and Navier-Stokes equations

High-order Hadamard-form entropy stable multidimensional summation-by-parts discretizations of the Euler and Navier-Stokes equations are considerably more expensive than the standard divergence-form discretization. In search of a more efficient entropy stable scheme, we extend the entropy-split method for implementation on unstructured grids and investigate its properties. The main ingredients of the scheme are Harten's entropy functions, diagonal-$ \mathsf{E} $ summation-by-parts operators with diagonal norm matrix, and entropy conservative simultaneous approximation terms (SATs). We show that the scheme is high-order accurate and entropy conservative on periodic curvilinear unstructured grids for the Euler equations. An entropy stable matrix-type artificial dissipation operator is constructed, which can be added to the SATs to obtain an entropy stable semi-discretization. Fully-discrete entropy conservation is achieved using a relaxation Runge-Kutta method. Entropy stable viscous SATs, applicable to both the Hadamard-form and entropy-split schemes, are developed for the Navier-Stokes equations. In the absence of heat fluxes, the entropy-split scheme is entropy stable for the Navier-Stokes equations. Local conservation in the vicinity of discontinuities is enforced using an entropy stable hybrid scheme. Several numerical problems involving both smooth and discontinuous solutions are investigated to support the theoretical results. Computational cost comparison studies suggest that the entropy-split scheme offers substantial efficiency benefits relative to Hadamard-form multidimensional SBP-SAT discretizations.