| Abstract: | The dynamic linear model (DLM) with additive Gaussian errors provides a useful statistical tool that is easily implemented because of the simplicity of updating a normal model that has a natural conjugate prior. If the model is not linear or if it does not have additive Gaussian errors, then numerical methods are usually required to update the distributions of the unknown parameters. If the dimension of the parameter space is small, numerical methods are feasible. However, as the number of unknown parameters increases, the numerial methods rapidly grow in complexity and cost. This article addresses the situation where a state dependent transformation of the observations follows the DLM, but a priori the appropriate transformation is not known. The Box-Cox family, which is indexed by a single parameter, illustrates the methodology. A prior distribution is constructed over a grid of points for the transformation parameter. For each value of the grid the relevant parameter esitmates and forecasts are obtained for the transformed series. These quantities are then integrated by the current distribution of the transformation parameter. When a new observation becomes available, parallel Kalman filters are used to update the distributions of the unknown parameters and to compute the likelihood of the transformation parameter at each grid point. The distribution of the transformation parameter is then updated. |
