Improved prediction limits for a general class of Gaussian models

In this article we consider the problem of prediction for a general class of Gaussian models, which includes, among others, autoregressive moving average time‐series models, linear Gaussian state space models and Gaussian Markov random fields. Using an idea presented in Sjöstedt‐De Luna and Young (2003) , in the context of spatial statistics, we discuss a method for obtaining prediction limits for a future random variable of interest, taking into account the uncertainty introduced by estimating the unknown parameters. The proposed prediction limits can be viewed as a modification of the estimative prediction limit, with unconditional, and eventually conditional, coverage error of smaller asymptotic order. The modifying term has a quite simple form and it involves the bias and the mean square error of the plug‐in estimators for the conditional expectation and the conditional variance of the future observation. Applications of the results to Gaussian time‐series models are presented.     

NONPARAMETRIC ESTIMATORS FOR TIME SERIES

Abstract. Kernel multivariate probability density and regression estimators are applied to a univariate strictly stationary time series X _r We consider estimators of the joint probability density of X _t at different t -values, of conditional probability densities, and of the conditional expectation of functionals of X _v given past behaviour. The methods seem of particular relevance in light of recent interest in non-Gaussian time series models. Under a strong mixing condition multivariate central limit theorems for estimators at distinct points are established, the asymptotic distributions being of the same nature as those which would derive from independent multivariate observations.     

Finite Sample Theory of QMLE in ARCH Models with Dynamics in the Mean Equation

Abstract. We provide simulation and theoretical results concerning the finite‐sample theory of quasi‐maximum‐likelihood estimators in autoregressive conditional heteroskedastic (ARCH) models when we include dynamics in the mean equation. In the setting of the AR(q)–ARCH(p), we find that in some cases bias correction is necessary even for sample sizes of 100, especially when the ARCH order increases. We warn about the existence of important biases and potentially low power of the t‐tests in these cases. We also propose ways to deal with them. We also find simulation evidence that when conditional heteroskedasticity increases, the mean‐squared error of the maximum‐likelihood estimator of the AR(1) parameter in the mean equation of an AR(1)‐ARCH(1) model is reduced. Finally, we generalize the Lumsdaine [J. Bus. Econ. Stat. 13 (1995) pp. 1–10] invariance properties for the biases in these situations.     

Estimation of regression and dynamic dependence paremeters for non‐stationary multinomial time series

In a time‐series regression setup, multinomial responses along with time dependent observable covariates are usually modelled by certain suitable dynamic multinomial logistic probabilities. Frequently, the time‐dependent covariates are treated as a realization of an exogenous random process and one is interested in the estimation of both the regression and the dynamic dependence parameters conditional on this realization of the covariate process. There exists a partial likelihood estimation approach able to deal with the general dependence structures arising from the influence of both past covariates and past multinomial responses on the covariates at a given time by sequentially conditioning on the history of the joint process (response and covariates), but it provides standard errors for the estimators based on the observed information matrix, because such a matrix happens to be the Fisher information matrix obtained by conditioning on the whole history of the joint process. This limitation of the partial likelihood approach holds even if the covariate history is not influeced by lagged response outcomes. In this article, a general formulation of the auto‐covariance structure of a multinomial time series is presented and used to derive an explicit expression for the Fisher information matrix conditional on the covariate history, providing the possibility of computing the variance of the maximum likelihood estimators given a realization of the covariate process for the multinomial‐logistic model. The difference between the standard errors of the parameter estimators under these two conditioning schemes (covariates Vs. joint history) is illustrated through an intensive simulation study based on the premise of an exogenous covariate process.     

Bias Correction Estimation for a Continuous‐Time Asset Return Model with Jumps

In this article, local linear estimators are adapted for the unknown infinitesimal coefficients associated with continuous‐time asset return models with jumps, which can correct the bias automatically due to their simple bias representation. The integrated diffusion models with jumps, especially infinite activity jumps, are mainly investigated. In addition, under mild conditions, the weak consistency and asymptotic normality are provided through the conditional Lindeberg theorem as the time span T→∞ and the sample interval Δ _n →0. Furthermore, our method presents advantages in bias correction through simulation whether jumps belong to the finite activity case or infinite activity case. Finally, the estimators are illustrated empirically through the returns of stock index under 5‐minute high sampling frequency for real application.     

Poisson QMLE of Count Time Series Models

Regularity conditions are given for the consistency of the Poisson quasi‐maximum likelihood estimator of the conditional mean parameter of a count time series model. The asymptotic distribution of the estimator is studied when the parameter belongs to the interior of the parameter space and when it lies at the boundary. Tests for the significance of the parameters and for constant conditional mean are deduced. Applications to specific integer‐valued autoregressive (INAR) and integer‐valued generalized autoregressive conditional heteroscedasticity (INGARCH) models are considered. Numerical illustrations, Monte Carlo simulations and real data series are provided.     

Postmodel selection estimators of variance function for nonlinear autoregression

We consider a problem of estimating a conditional variance function of an autoregressive process. A finite collection of parametric models for conditional density is studied when both regression and variance are modelled by parametric functions. The proposed estimators are defined as the maximum likelihood estimators in the models chosen by penalized selection criteria. Consistency properties of the resulting estimator of the variance when the conditional density belongs to one of the parametric models are studied as well as its behaviour under mis‐specification. The autoregressive process does not need to be stationary but only existence of a stationary distribution and ergodicity is required. Analogous results for the pseudolikelihood method are also discussed. A simulation study shows promising behaviour of the proposed estimator in the case of heavy‐tailed errors in comparison with local linear smoothers.     

The Effect of the Estimation on Goodness‐of‐Fit Tests in Time Series Models

Abstract. We analyze, by simulation, the finite‐sample properties of goodness‐of‐fit tests based on residual autocorrelation coefficients (simple and partial) obtained using different estimators frequently used in the analysis of autoregressive moving‐average time‐series models. The estimators considered are unconditional least squares, maximum likelihood and conditional least squares. The results suggest that although the tests based on these estimators are asymptotically equivalent for particular models and parameter values, their sampling properties for samples of the size commonly found in economic applications can differ substantially, because of differences in both finite‐sample estimation efficiencies and residual regeneration methods.     

Asymptotics of Quantiles and Rank Scores in Nonlinear Time Series

This paper extends the concept of regression and autoregression quantiles and rank scores to a very general nonlinear time series model. The asymptotic linearizations of these nonlinear quantiles are then used to obtain the limiting distributions of a class of L-estimators of the parameters. In particular, the limiting distributions of the least absolute deviation estimator and trimmed estimators are obtained. These estimators turn out to be asymptotically more efficient than the widely used conditional least squares estimator for heavy-tailed error distributions. The results are applicable to linear and nonlinear regression and autoregressive models including self-exciting threshold autoregressive models with known threshold.     

TIME SERIES RESIDUALS WITH APPLICATION TO PROBABILITY DENSITY ESTIMATION

Abstract. A linear stationary and invertible process y _t models the second-order properties of T observations on a discrete time series, up to finitely many unknown parameters θ. Two estimators of the residuals or innovations ɛ _t of y _t are presented, based on a θ estimator which is root- T consistent with respect to a wide class of ɛ _t distributions, such as a Gaussian estimator. One sets unobserved y _t equal to their mean, the other treats y _t as a circulant and may be best computed via two passes of the fast Fourier transform. The convergence of both estimators to ɛ _t is investigated. We apply the estimated ɛ _t to estimate the probability density function of ɛ _t . Kernel density estimators are shown to converge uniformly in probability to the true density. A new sub-class of linear time series models is motivated.     

Consistent estimation of the memory parameter for nonlinear time series

Abstract. For linear processes, semiparametric estimation of the memory parameter, based on the log‐periodogram and local Whittle estimators, has been exhaustively examined and their properties well established. However, except for some specific cases, little is known about the estimation of the memory parameter for nonlinear processes. The purpose of this paper is to provide the general conditions under which the local Whittle estimator of the memory parameter of a stationary process is consistent and to examine its rate of convergence. We show that these conditions are satisfied for linear processes and a wide class of nonlinear models, among others, signal plus noise processes, nonlinear transforms of a Gaussian process ξ_t and exponential generalized autoregressive, conditionally heteroscedastic (EGARCH) models. Special cases where the estimator satisfies the central limit theorem are discussed. The finite‐sample performance of the estimator is investigated in a small Monte Carlo study.     

Negative Binomial Quasi‐Likelihood Inference for General Integer‐Valued Time Series Models

Two negative binomial quasi‐maximum likelihood estimates (NB‐QMLEs) for a general class of count time series models are proposed. The first one is the profile NB‐QMLE calculated while arbitrarily fixing the dispersion parameter of the negative binomial likelihood. The second one, termed two‐stage NB‐QMLE, consists of four stages estimating both conditional mean and dispersion parameters. It is shown that the two estimates are consistent and asymptotically Gaussian under mild conditions. Moreover, the two‐stage NB‐QMLE enjoys a certain asymptotic efficiency property provided that a negative binomial link function relating the conditional mean and conditional variance is specified. The proposed NB‐QMLEs are compared with the Poisson QMLE asymptotically and in finite samples for various well‐known particular classes of count time series models such as the Poisson and negative binomial integer‐valued GARCH model and the INAR(1) model. Application to a real dataset is given.     

SEMI‐PARAMETRIC ESTIMATION OF LINEAR COINTEGRATING MODELS WITH NONLINEAR CONTEMPORANEOUS ENDOGENEITY

This article considers linear cointegrating models with unknown nonlinear short‐run contemporaneous endogeneity. Two estimators are proposed to estimate the linear cointegrating parameter after the nonlinear endogenous component is estimated by local linear regression approach. Both the proposed estimators are shown to have the same mixed normal limiting distribution with zero mean and smaller asymptotic variance than the fully modified ordinary least squares and instrumental variables estimators. Monte Carlo simulations are used to evaluate the finite sample performance of our proposed estimators, and an empirical application is also included.     

Inference on Multivariate Heteroscedastic Time Varying Random Coefficient Models

In this article, we introduce the general setting of a multivariate time series autoregressive model with stochastic time‐varying coefficients and time‐varying conditional variance of the error process. This allows modelling VAR dynamics for non‐stationary time series and estimation of time‐varying parameter processes by the well‐known rolling regression estimation techniques. We establish consistency, convergence rates, and asymptotic normality for kernel estimators of the paths of coefficient processes and provide pointwise valid standard errors. The method is applied to a popular seven‐variable dataset to analyse evidence of time variation in empirical objects of interest for the DSGE (dynamic stochastic general equilibrium) literature.     

On Residual Variance Estimation in Autoregressive Models

In this paper we consider time series models belonging to the autoregressive (AR) family and deal with the estimation of the residual variance. This is important because estimates of the variance are involved in, for example, confidence sets for the parameters of the model, estimation of the spectrum, expressions for the estimated error of prediction and sample quantities used to make inferences about the order of the model. We consider the asymptotic biases for moment and least squares estimators of the residual variance, and compare them with known results when available and with those for maximum likelihood estimators under normality. Simulation results are presented for finite samples     

ON M‐Estimation Under Long‐Range Dependence in Volatility

Abstract. We consider M‐estimation of a location parameter for processes with zero autocorrelations but long‐range dependence in volatility. The observed process is the product of i.i.d. Gaussian observations and a long‐memory Gaussian process. For nonlinear estimators, the rate of convergence depends on the type of the ψ‐function. For skew‐symmetric ψ‐functions, a central limit theorem with ‐rate of convergence holds, under suitable regularity assumptions. This is not true in general for M‐estimators where the ψ‐function is not skewsymmetric.     

Integer‐Valued Autoregressive Models With Survival Probability Driven By A Stochastic Recurrence Equation

This paper proposes a new class of integer‐valued autoregressive models with a dynamic survival probability. The peculiarity of this class of models lies in the specification of the survival probability through a stochastic recurrence equation. The proposed models can effectively capture changing dependence over time and enhance both the in‐sample and out‐of‐sample performance of integer‐valued autoregressive models. This point is illustrated through an empirical application to a real‐time series of crime reports. Additionally, this paper discusses the reliability of likelihood‐based inference for the class of models. In particular, this study proves the consistency of the maximum likelihood estimator and a plug‐in estimator for the conditional probability mass function in a misspecified model setting.     

Inference for pth‐order random coefficient integer‐valued autoregressive processes

Abstract. A pth‐order random coefficient integer‐valued autoregressive [RCINAR(p)] model is proposed for count data. Stationarity and ergodicity properties are established. Maximum likelihood, conditional least squares, modified quasi‐likelihood and generalized method of moments are used to estimate the model parameters. Asymptotic properties of the estimators are derived. Simulation results on the comparison of the estimators are reported. The models are applied to two real data sets.     

Outlier Detection And Estimation In NonLinear Time Series

Abstract. The problem of identifying the time location and estimating the amplitude of outliers in nonlinear time series is addressed. A model‐based method is proposed for detecting the presence of additive or innovational outliers when the series is generated by a general nonlinear model. We use this method for identifying and estimating outliers in bilinear, self‐exciting threshold autoregressive and exponential autoregressive models. A simulation study is performed to test the proposed procedures and comparing them with the methods based on linear models and linear interpolators. Finally, our results are applied for detecting outliers in the Canadian lynx trappings and in the sunspot numbers data.     

A note on non‐parametric testing for Gaussian innovations in AR–ARCH models

In this paper, we consider autoregressive models with conditional autoregressive variance, including the case of homoscedastic AR models and the case of ARCH models. Our aim is to test the hypothesis of normality for the innovations in a completely non‐parametric way, that is, without imposing parametric assumptions on the conditional mean and volatility functions. To this end, the Cramér–von Mises test based on the empirical distribution function of non‐parametrically estimated residuals is shown to be asymptotically distribution‐free. We demonstrate its good performance for finite sample sizes in a small simulation study. AMS 2010 Classification: Primary 62 M10, Secondary 62 G10