Linear Trend with Fractionally Integrated Errors

We consider the estimation of linear trend for a time series in the presence of additive long-memory noise with memory parameter d ∈[0, 1.5). Although no parametric model is assumed for the noise, our assumptions include as special cases the random walk with drift as well as linear trend with stationary invertible autoregressive moving-average errors. Moreover, our assumptions include a wide variety of trend-stationary and difference-stationary situations. We consider three different trend estimators: the ordinary least squares estimator based on the original series, the sample mean of the first differences and a class of weighted (tapered) means of the first differences. We present expressions for the asymptotic variances of these estimators in the form of one-dimensional integrals. We also establish the asymptotic normality of the tapered means for d ∈[0, 1.5) −{0.5} and of the ordinary least squares estimator for d ∈ (0.5, 1.5). We point out connections with existing theory and present applications of the methodology.     

A GENERALIZED FRACTIONALLY INTEGRATED AUTOREGRESSIVE MOVING-AVERAGE PROCESS

Abstract. This paper considers the long memory Gegenbauer autoregressive movingaverage (GARMA) process that generalizes the fractionally integrated ARMA (ARFIMA) process to allow for hyperbolic and sinusoidal decay in autocorrelations. We propose the conditional sum of squares method for estimation (which is asymptotically equivalent to the maximum likelihood estimation) and develop the asymptotic theory. Many results are in sharp contrast to those of the ARFIMA model. Simulations are conducted to assess the performance of the proposed estimators in small sample applications. Two applications to the sunspot data and the US inflation rates based on the wholesale price index are provided.     

ASYMPTOTIC EXPANSIONS FOR THE DISTRIBUTION OF AN ESTIMATOR IN THE FIRST-ORDER AUTOREGRESSIVE PROCESS

Abstract. In this paper, two asymptotic expansions for the distribution for an estimator of the parameter in a first-order autoregressive process are derived, according to two situations. Some well known estimators are special cases of the estimator discussed here. The series expansions are carried to terms of order T ^-1.     

SPECTRAL DENSITY ESTIMATION VIA NONLINEAR WAVELET METHODS FOR STATIONARY NON-GAUSSIAN TIME SERIES

Abstract. In the present paper we consider nonlinear wavelet estimators of the spectral density f of a zero mean, not necessarily Gaussian, stochastic process, which is stationary in the wide sense. It is known in the case of Gaussian regression that these estimators outperform traditional linear methods if the degree of smoothness of the regression function varies considerably over the interval of interest. Such methods are based on a nonlinear treatment of empirical coefficients that arise from an orthonormal series expansion according to a wavelet basis.
The main goal of this paper is to transfer these methods to spectral density estimation. This is done by showing the asymptotic normality of certain empirical coefficients based on the tapered periodogram. Using these results we can show the risk equivalence to the Gaussian case for monotone estimators based on such empirical coefficients. The resulting estimator of f keeps all interesting properties such as high spatial adaptivity that are already known for wavelet estimators in the case of Gaussian regression.
It turns out that appropriately tuned versions of this estimator attain the optimal uniform rate of convergence of their L ₂ risk in a wide variety of Besov smoothness classes, including classes where linear estimators (kernel, spline) are not able to attain this rate. Some simulations indicate the usefulness of the new method in cases of high spatial inhomogeneity.     

A refined efficiency rate for ordinary least squares and generalized least squares estimators for a linear trend with autoregressive errors

When a straight line is fitted to time series data, generalized least squares (GLS) estimators of the trend slope and intercept are attractive as they are unbiased and of minimum variance. However, computing GLS estimators is laborious as their form depends on the autocovariances of the regression errors. On the other hand, ordinary least squares (OLS) estimators are easy to compute and do not involve the error autocovariance structure. It has been known for 50 years that OLS and GLS estimators have the same asymptotic variance when the errors are second‐order stationary. Hence, little precision is gained by using GLS estimators in stationary error settings. This article revisits this classical issue, deriving explicit expressions for the GLS estimators and their variances when the regression errors are drawn from an autoregressive process. These expressions are used to show that OLS methods are even more efficient than previously thought. Specifically, we show that the convergence rate of variance differences is one polynomial degree higher than that of least squares estimator variances. We also refine Grenander's (1954) variance ratio. An example is presented where our new rates cannot be improved upon. Simulations show that the results change little when the autoregressive parameters are estimated.     

Wasserstein autoregressive models for density time series

Data consisting of time-indexed distributions of cross-sectional or intraday returns have been extensively studied in finance, and provide one example in which the data atoms consist of serially dependent probability distributions. Motivated by such data, we propose an autoregressive model for density time series by exploiting the tangent space structure on the space of distributions that is induced by the Wasserstein metric. The densities themselves are not assumed to have any specific parametric form, leading to flexible forecasting of future unobserved densities. The main estimation targets in the order-p Wasserstein autoregressive model are Wasserstein autocorrelations and the vector-valued autoregressive parameter. We propose suitable estimators and establish their asymptotic normality, which is verified in a simulation study. The new order-p Wasserstein autoregressive model leads to a prediction algorithm, which includes a data driven order selection procedure. Its performance is compared to existing prediction procedures via application to four financial return data sets, where a variety of metrics are used to quantify forecasting accuracy. For most metrics, the proposed model outperforms existing methods in two of the data sets, while the best empirical performance in the other two data sets is attained by existing methods based on functional transformations of the densities.     

Estimation of GARCH Models from the Autocorrelations of the Squares of a Process

This paper shows how the parameters of a stable GARCH(1, 1) model can be estimated from the autocorrelations of the squared process. Specifically, the method applies a minimum distance estimator (MDE) to the sample autocorrelations of the squared realization. The asymptotic efficiency of the estimator is calculated from using the first g autocorrelations. The estimator can be surprisingly efficient for quite small numbers of autocorrelations and, in some cases, can be more efficient than the quasi maximum likelihood estimator (QMLE). Also, the estimated process can better fit the pattern of observed autocorrelations of squared returns than those from models estimated by maximum likelihood estimation (MLE). The estimator is applied to a series of hourly exchange rate returns, which are extremely non Gaussian.     

ESTIMATION OF THE MOVING-AVERAGE REPRESENTATION OF A STATIONARY PROCESS BY AUTOREGRESSIVE MODEL FITTING

Abstract. The Hannan-Rissanen procedure for recursive order determination of an autoregressive moving-average process provides 'non-parametric' estimators of the coefficients b ( u ), say, of the moving-average representation of a stationary process by auto-regressive model fitting, and also that of the cross-covariances, c ( u ), between the process and its linear innovations. An alternative 'autoregressive' estimator of the b ( u ) is obtained by inverting the autoregressive transfer function. Some uses of these estimators are discussed, and their asymptotic distributions are derived by requiring that the order k of the fitted autoregression approaches infinity simultaneously with the length T of the observed time series. The question of bias in estimating the parameters is also examined.     

ASYMPTOTIC PROPERTIES OF SOME PRELIMINARY ESTIMATORS FOR AUTOREGRESSIVE MOVING AVERAGE TIME SERIES MODELS

Abstract. Some simple preliminary estimators for the coefficients of mixed autoregressive moving average time series models are considered. As the first step the estimators require the fitting of a long autoregression to the data. The first two methods of the paper are non-iterative and generally inefficient. The estimators are Yule-Walker type modifications of the least squares estimators of the coefficients in auxiliary linear regression models derived, respectively, for the coefficients of the long autoregression and for the coefficients of the corresponding long moving average approximation of the model. Both of these estimators are shown to be strongly consistent and their asymptotic distributions are derived. The asymptotic distributions are used in studying the loss in efficiency and in constructing the third estimator of the paper which is an asymptotically efficient two-step estimator. A numerical illustration of the third estimator with real data is given.     

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.     

On modelling and diagnostic checking of vector periodic autoregressive time series models

Abstract.  Vector periodic autoregressive time series models (PVAR) form an important class of time series for modelling data derived from climatology, hydrology, economics and electrical engineering, among others. In this article, we derive the asymptotic distributions of the least squares estimators of the model parameters in PVAR models, allowing the parameters in a given season to satisfy linear constraints. Residual autocorrelations from classical vector autoregressive and moving-average models have been found useful for checking the adequacy of a particular model. In view of this, we obtain the asymptotic distribution of the residual autocovariance matrices in the class of PVAR models, and the asymptotic distribution of the residual autocorrelation matrices is given as a corollary. Portmanteau test statistics designed for diagnosing the adequacy of PVAR models are introduced and we study their asymptotic distributions. The proposed test statistics are illustrated in a small simulation study, and an application with bivariate quarterly West German data is presented.     

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.     

Least absolute deviation estimation for general autoregressive moving average time‐series models

We study least absolute deviation (LAD) estimation for general autoregressive moving average time‐series models that may be noncausal, noninvertible or both. For ARMA models with Gaussian noise, causality and invertibility are assumed for the parameterization to be identifiable. The assumptions, however, are not required for models with non‐Gaussian noise, and hence are removed in our study. We derive a functional limit theorem for random processes based on an LAD objective function, and establish the consistency and asymptotic normality of the LAD estimator. The performance of the estimator is evaluated via simulation and compared with the asymptotic theory. Application to real data is also provided.     

Zero‐Modified Geometric INAR(1) Process for Modelling Count Time Series with Deflation or Inflation of Zeros

In this article, we propose a first‐order integer‐valued autoregressive [INAR(1)] process for dealing with count time series with deflation or inflation of zeros. The proposed process has zero‐modified geometric marginals and contains the geometric INAR(1) process as a particular case. The proposed model is also capable of capturing underdispersion and overdispersion, which sometimes are caused by deflation or inflation of zeros. We explore several statistical and mathematical properties of the process, discuss point estimation of the parameters and find the asymptotic distribution of the proposed estimators. We also propose a test based on our model for checking if the count time series considered is deflated or inflated of zeros. Two empirical illustrations are presented in order to show the potential for practice of our zero‐modified geometric INAR(1) process. This article contains a Supporting Information.     

On Optimal Adaptive Prediction of Multivariate Autoregression

Abstract

The problem of asymptotic efficiency of adaptive one-step predictors for a stable multivariate first-order autoregressive process (AR(1)) with unknown parameters is considered. The predictors are based on the truncated estimators of the dynamic matrix parameter. The truncated estimation method is a modification of the truncated sequential estimation method that makes it possible to obtain estimators of ratio-type functionals with a given accuracy by samples of fixed size. The criterion of optimality is based on the loss function, defined as a sum of sample size and squared prediction error's sample mean. The cases of known and unknown variance of the noise model are studied. In the latter case the optimal sample size is a special stopping time. The simulation results are given.     

Effects of outliers on the identification and estimation of GARCH models

Abstract. This paper analyses how outliers affect the identification of conditional heteroscedasticity and the estimation of generalized autoregressive conditionally heteroscedastic (GARCH) models. First, we derive the asymptotic biases of the sample autocorrelations of squared observations generated by stationary processes and show that the properties of some conditional homoscedasticity tests can be distorted. Second, we obtain the asymptotic and finite sample biases of the ordinary least squares (OLS) estimator of ARCH(p) models. The finite sample results are extended to generalized least squares (GLS), maximum likelihood (ML) and quasi‐maximum likelihood (QML) estimators of ARCH(p) and GARCH(1,1) models. Finally, we show that the estimated asymptotic standard deviations are biased estimates of the sample standard deviations.     

Prediction Interval for Autoregressive Time Series via Oracally Efficient Estimation of Multi‐Step‐Ahead Innovation Distribution Function

A kernel distribution estimator (KDE) is proposed for multi‐step‐ahead prediction error distribution of autoregressive time series, based on prediction residuals. Under general assumptions, the KDE is proved to be oracally efficient as the infeasible KDE and the empirical cumulative distribution function (cdf) based on unobserved prediction errors. Quantile estimator is obtained from the oracally efficient KDE, and prediction interval for multi‐step‐ahead future observation is constructed using the estimated quantiles and shown to achieve asymptotically the nominal confidence levels. Simulation examples corroborate the asymptotic theory.     

Rank‐based estimation for autoregressive moving average time series models

Abstract. We establish asymptotic normality and consistency for rank‐based estimators of autoregressive‐moving average model parameters. The estimators are obtained by minimizing a rank‐based residual dispersion function similar to the one given by L.A. Jaeckel [Ann. Math. Stat. Vol. 43 (1972) 1449–1458]. These estimators can have the same asymptotic efficiency as maximum likelihood estimators and are robust. The quality of the asymptotic approximations for finite samples is studied via simulation.     

APPROXIMATE DISTRIBUTION OF PARAMETER ESTIMATORS FOR FIRST-ORDER AUTOREGRESSIVE MODELS

Abstract. Formulae for the exact bias and mean square error for the least squares for forward-backward least squares estimators are obtained based on the explicit expressions for the moment-generating and characteristic functions of quadratic form in the first-order autoregressive process. Asymptotic expressions for their cumulants and the maximum likelihood estimator are given. Approximations of the distributions of the above estimators are proposed based on the Ornstein-Ulenbeck process. A simple computational procedure for the exact distribution is developed, and some numerical comparisons are given which support the overall good accuracy of the approximation and confirm that the maximum likelihood estimator performs better than the others.     

Goodness-of-fit tests for autoregressive processes

Goodness-of-fit tests for autoregressive processes can be based on the difference betwe en the empirical standardized spectral distribution of an observed time series and the standardized spectral distribution of the autoregressive process with parameters estimated from the series. The asymptotic covariance function of this difference, considered as a stochastic process on [0, π], is found. Methods to compute the asymptotic distribution of the Cramer--von Mises statistic are given.