Asymptotic properties of kernel density estimation with complex survey data

Kernel density estimation has been used with great success with data that may be assumed to be generated from independent and identically distributed (iid) random variables. The methods and theoretical results for iid data, however, do not directly apply to data from stratified multistage samples. We present finite-sample and asymptotic properties of a modified density estimator introduced in Buskirk (Proceedings of the Survey Research Methods Section, American Statistical Association (1998), pp. 799–801) and Bellhouse and Stafford (Statist. Sin. 9 (1999) 407–424); this estimator incorporates both the sampling weights and the kernel weights. We present regularity conditions which lead the sample estimator to be consistent and asymptotically normal under various modes of inference used with sample survey data. We also introduce a superpopulation structure for model-based inference that allows the population model to reflect naturally occurring clustering. The estimator, and confidence bands derived from the sampling design, are illustrated using data from the US National Crime Victimization Survey and the US National Health and Nutrition Examination Survey.