The beveridge-nelson decomposition: Properties and extensions

Summary This paper discusses the time series properties of the Beveridge-Nelson decomposition and provides extensions in two fundamental directions: in the first place it is shown that anyARIMA(p, 2, q) process can be additively decomposed into anIMA (2, 1) trend and a stationary component; secondly, for the class of seasonally integrated processes, i.e. displaying unit roots at the seasonal frequencies, another component, namely the seasonal component, is identified by the condition that its predictions will average, out to zero over any one-year time span. Furthermore, algorithms for the extraction of the components are given which exploit the Kalman filter recursions once the data generating process is cast in the state space form.     

Reml and best linear unbiased prediction in state space models

This article takes a hierarchical model approach to the estimation of state space models with diffuse initial conditions. An initial state is said to be diffuse when it cannot be assigned a proper prior distribution. In state space models this occurs either when fixed effects are present or when modelling nonstationarity in the state transition equation. Whereas much of the literature views diffuse states as an initialization problem, we follow the approach of Sallas and Harville (1981,1988) and incorporate diffuse initial conditions via noninformative prior distributions into hierarchical linear models. We apply existing results to derive the restricted loglike-lihood and appropriate modifications to the standard Kalman filter and smoother. Our approach results in a better understanding of De Jong's (1991) contributions. This article also shows how to adjust the standard Kalman filter, the fixed inter- val smoother and the state space model forecasting recursions, together with their mean square errors, for he presence of diffuse components. Using a hierarchical model approach it is shown that the estimates obtained are Best Linear Unbiased Predictors (BLUP).     

Dynamic structural models with covariates for short-term forecasting of time series with complex seasonal patterns

This work presents a framework of dynamic structural models with covariates for short-term forecasting of time series with complex seasonal patterns. The framework is based on the multiple sources of randomness formulation. A noise model is formulated to allow the incorporation of randomness into the seasonal component and to propagate this same randomness in the coefficients of the variant trigonometric terms over time. A unique, recursive and systematic computational procedure based on the maximum likelihood estimation under the hypothesis of Gaussian errors is introduced. The referred procedure combines the Kalman filter with recursive adjustment of the covariance matrices and the selection method of harmonics number in the trigonometric terms. A key feature of this method is that it allows estimating not only the states of the system but also allows obtaining the standard errors of the estimated parameters and the prediction intervals. In addition, this work also presents a non-parametric bootstrap approach to improve the forecasting method based on Kalman filter recursions. The proposed framework is empirically explored with two real time series.     

Estimation and tests of hypotheses for the initial mean and covariance in the kalman filter model

Kalman filtering techniques are widely used by engineers to recursively estimate random signal parameters which are essentially coefficients in a large-scale time series regression model. These Bayesian estimators depend on the values assumed for the mean and covariance parameters associated with the initial state of the random signal. This paper considers a likelihood approach to estimation and tests of hypotheses involving the critical initial means and covariances. A computationally simple convergent iterative algorithm is used to generate estimators which depend only on standard Kalman filter outputs at each successive stage. Conditions are given under which the maximum likelihood estimators are consistent and asymptotically normal. The procedure is illustrated using a typical large-scale data set involving 10-dimensional signal vectors.     

Time Series Models for Count or Qualitative Observations

Time series sometimes consist of count data in which the number of events occurring in a given time interval is recorded. Such data are necessarily nonnegative integers, and an assumption of a Poisson or negative binomial distribution is often appropriate. This article sets ups a model in which the level of the process generating the observations changes over time. A recursion analogous to the Kalman filter is used to construct the likelihood function and to make predictions of future observations. Qualitative variables, based on a binomial or multinomial distribution, may be handled in a similar way. The model for count data may be extended to include explanatory variables. This enables nonstochastic slope and seasonal components to be included in the model, as well as permitting intervention analysis. The techniques are illustrated with a number of applications, and an attempt is made to develop a model-selection strategy along the lines of that used for Gaussian structural time series models. The applications include an analysis of the results of international football matches played between England and Scotland and an assessment of the effect of the British seat-belt law on the drivers of light-goods vehicles.     

Missing data and forecasting in multivariate time series: An application of the common components dynamic linear model

Summary The paper deals with missing data and forecasting problems in multivariate time series making use of the Common Components Dynamic Linear Model (DLMCC), presented in Quintana (1985), and West and Harrison (1989). Some results are presented and discussed: exploiting the correlation between series, estimated by the DLMCC, the paper shows as it is possible to update state vector posterior distributions for the unobserved series. This is realized on the base of the updating of the observed series state vectors, for which the usual Kalman filter equations can be applied. An application concerning some Italian private consumption series provides an example of the model capabilities.     

Nonlinear filters based on taylor series expansions ∗

The nonlinear filters based on Taylor series approximation are broadly used for computational simplicity, even though their filtering estimates are clearly biased. In this paper, first, we analyze what is approximated when we apply the expanded nonlinear functions to the standard linear recursive Kalman filter algorithm. Next, since the state variable α_t and α_t-t are approximated as a conditional normal distribution given information up to time t - 1 (i.e., I_t-1) in approximation of the Taylor series expansion, it might be appropriate to evaluate each expectation by generating normal random numbers of α_t and α_t-1 given I_t-1 and those of the error terms θ and η_t. Thus, we propose the Monte-Carlo simulation filter using normal random draws. Finally we perform two Monte-Carlo experiments, where we obtain the result that the Monte-Carlo simulation filter has a superior performance over the nonlinear filters such as the extended Kalman filter and the second-order nonlinear filter.     

An Introduction to Modern Matrix Methods and Statistics

In this article, using the representation that the Kalman filter recursions in state-space models can be expressed as a matrix-weighted average of prior and sample estimates, we supplement the usual filtering algorithm by an extreme bounds analysis. Specifically, as the covariance matrix of the state error is varied in the class of symmetric and positive-definite matrices, the filtering estimates are shown to be in an ellipsoid.     

Monte Carlo Kalman filter and smoothing for multivariate discrete state space models

The author studies state space models for multivariate binomial time series, focussing on the development of the Kalman filter and smoothing for state variables. He proposes a Monte Carlo approach employing the latent variable representation which transplants the classical Kalman filter and smoothing developed for Gaussian state space models to discrete models and leads to a conceptually simple and computationally convenient approach. The method is illustrated through simulations and concrete examples.     

Asymptotic distribution theory for the kalman filter state estimator

An asymptotic distribution theory for the state estimate from a Kalman filter in the absence of the usual Gaussian assumption is presented. It is found that the stability properties of the state transition matrix playa key role in the distribution theory. Specifically, when the state equation is neutrally stable (i.e., borderline stable-unstable) the state estimate is asymptotically normal when the random terms in the model have arbitrary distributions. This case includes the popular random walk state equation. However, when the state equation is either stable or unstable, at least some of the random terms in the model must be normally distributed beyond some finite time before the state estimate is asymptotically normal.     

On spatiotemporal prediction for on-line monitoring data

Spatiotemporal prediction is of interest in many areas of applied statistics, especially in environmental monitoring with on-line data information. At first, this article reviews the approaches for spatiotemporal modeling in the context of stochastic processes and then introduces the new class of spatiotemporal dynamic linear models. Further, the methods for linear spatial data analysis, universal kriging and trend surface prediction, are related to the method of spatial linear Bayesian analysis. The Kalman filter is the preferred method for temporal linear Bayesian inferences. By combining the Kalman filter recursions with the trend surface predictor and universal kriging predictor, the prior and posterior spatiotemporal predictors for the observational process are derived, which form the main result of this article. The problem of spatiotemporal linear prediction in the case of unknown first and second order moments is treated as well.     

Trends and Cycles in Macroeconomic Time Series

Two structural time series models for annual observations are constructed in terms of trend, cycle, and irregular components. The models are then estimated via the Kalman filter using data on five U.S. macroeconomic time series. The results provide some interesting insights into the dynamic structure of the series, particularly with respect to cyclical behavior. At the same time, they illustrate the development of a model selection strategy for structural time series models.     

A Family Which Integrates the Generalized Charlier Series and Extended Noncentral Negative Binomial Distributions

The generalized Charlier series distribution includes the binomial distribution, and the noncentral negative binomial distribution extends the negative binomial distribution. The present article proposes a family of counting distributions, which contains both the generalized Charlier series and extended noncentral negative binomial distributions. Compound and mixture formulations of the proposed distribution are given. The probability mass function is expressible in terms of the confluent hypergeometric function as well as the Gauss hypergeometric function. Recursive formulae for probability mass function have been studied by Panjer, Sundt and Jewell, Schröter, Sundt, and Kitano et al. in the context of insurance risk. This article explores horizontal, vertical, triangular, and diagonal recursions. Recursive formulae as well as exact expressions for descending factorial moments are studied. The proposed distribution allows overdispersion or underdispersion relative to a Poisson distribution. An illustrative example of data fitting is given.     

Dynamic generalized linear models with application to environmental epidemiology

Summary. We propose modelling short-term pollutant exposure effects on health by using dynamic generalized linear models. The time series of count data are modelled by a Poisson distribution having mean driven by a latent Markov process; estimation is performed by the extended Kalman filter and smoother. This modelling strategy allows us to take into account possible overdispersion and time-varying effects of the covariates. These ideas are illustrated by reanalysing data on the relationship between daily non-accidental deaths and air pollution in the city of Birmingham, Alabama.     

Robust estimation of linear state space models

The model parameters of linear state space models are typically estimated with maximum likelihood estimation, where the likelihood is computed analytically with the Kalman filter. Outliers can deteriorate the estimation. Therefore we propose an alternative estimation method. The Kalman filter is replaced by a robust version and the maximum likelihood estimator is robustified as well. The performance of the robust estimator is investigated in a simulation study. Robust estimation of time varying parameter regression models is considered as a special case. Finally, the methodology is applied to real data.     

Approximate Methods for State-Space Models

State-space models provide an important body of techniques for analyzing time-series, but their use requires estimating unobserved states. The optimal estimate of the state is its conditional expectation given the observation histories, and computing this expectation is hard when there are nonlinearities. Existing filtering methods, including sequential Monte Carlo, tend to be either inaccurate or slow. In this paper, we study a nonlinear filter for nonlinear/non-Gaussian state-space models, which uses Laplace's method, an asymptotic series expansion, to approximate the state's conditional mean and variance, together with a Gaussian conditional distribution. This Laplace-Gaussian filter (LGF) gives fast, recursive, deterministic state estimates, with an error which is set by the stochastic characteristics of the model and is, we show, stable over time. We illustrate the estimation ability of the LGF by applying it to the problem of neural decoding and compare it to sequential Monte Carlo both in simulations and with real data. We find that the LGF can deliver superior results in a small fraction of the computing time.     

Analysis of a longitudinal ordinal response clinical trial using dynamic models

Summary.  In many areas of pharmaceutical research, there has been increasing use of categorical data and more specifically ordinal responses. In many cases, complex models are required to account for different types of dependences among the responses. The clinical trial that is considered here involved patients who were required to remain in a particular state to enable the doctors to examine their heart. The aim of this trial was to study the relationship between the dose of the drug administered and the time that was spent by the patient in the state permitting examination. The patient's state was measured every second by a continuous Doppler signal which was categorized by the doctors into one of four ordered categories. Hence, the response consisted of repeated ordinal series. These series were of different lengths because the drug effect wore off faster (or slower) on certain patients depending on the drug dose administered and the infusion rate, and therefore the length of drug administration. A general method for generating new ordinal distributions is presented which is sufficiently flexible to handle unbalanced ordinal repeated measurements. It consists of obtaining a cumulative mixture distribution from a Laplace transform and introducing into it the integrated intensity of a binary logistic, continuation ratio or proportional odds model. Then, a multivariate distribution is constructed by a procedure that is similar to the updating process of the Kalman filter. Several types of history dependences are proposed.     

Estimating the underlying change in unemployment in the UK

By setting up a suitable time series model in state space form, the latest estimate of the underlying current change in a series may be computed by the Kalman filter. This may be done even if the observations are only available in a time-aggregated form subject to survey sampling error. A related series, possibly observed more frequently, may be used to improve the estimate of change further. The paper applies these techniques to the important problem of estimating the underlying monthly change in unemployment in the UK measured according to the definition of the International Labour Organisation by the Labour Force Survey. The fitted models suggest a reduction in root-mean-squared error of around 10% over a simple estimate based on differences if a univariate model is used and a further reduction of 50% if information on claimant counts is taken into account. With seasonally unadjusted data, the bivariate model offers a gain of roughly 40% over the use of annual differences. For both adjusted and unadjusted data, there is a further gain of around 10% if the next month's figure on claimant counts is used. The method preferred is based on a bivariate model with unadjusted data. If the next month's claimant count is known, the root-mean-squared error for the estimate of change is just over 10000.     

Multivariate non-linear time series modelling of exposure and risk in road safety research

Summary.  A multivariate non-linear time series model for road safety data is presented. The model is applied in a case-study into the development of a yearly time series of numbers of fatal accidents (inside and outside urban areas) and numbers of kilometres driven by motor vehicles in the Netherlands between 1961 and 2000. The model accounts for missing entries in the disaggregated numbers of kilometres driven although the aggregated numbers are observed throughout. We consider a multivariate non-linear time series model for the analysis of these data. The model consists of dynamic unobserved factors for exposure and risk that are related in a non-linear way to the number of fatal accidents. The multivariate dimension of the model is due to its inclusion of multiple time series for inside and outside urban areas. Approximate maximum likelihood methods based on the extended Kalman filter are utilized for the estimation of unknown parameters. The latent factors are estimated by extended smoothing methods. It is concluded that the salient features of the observed time series are captured by the model in a satisfactory way.