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Bootstrap prediction mean squared errors of unobserved states based on the Kalman filter with estimated parameters


  • Rodríguez, Alejandro
  • Ruiz, Esther


In the context of linear state space models with known parameters, the Kalman filter (KF) generates best linear unbiased predictions of the underlying states together with their corresponding Prediction Mean Square Errors (PMSE). However, in practice, when the filter is run with the parameters substituted by consistent estimates, the corresponding PMSE do not take into account the parameter uncertainty. Consequently, they underestimate their true counterparts. In this paper, we propose two new bootstrap procedures to obtain PMSE of the unobserved states designed to incorporate this latter uncertainty. We show that the new bootstrap procedures have better finite sample properties than bootstrap alternatives and than procedures based on the asymptotic approximation of the parameter distribution. The proposed procedures are implemented for estimating the PMSE of several key unobservable US macroeconomic variables as the output gap, the Non-accelerating Inflation Rate of Unemployment (NAIRU), the long-run investment rate and the core inflation. We show that taking into account the parameter uncertainty may change their prediction intervals and, consequently, the conclusions about the utility of the NAIRU as a macroeconomic indicator for expansions and recessions.

Suggested Citation

  • Rodríguez, Alejandro & Ruiz, Esther, 2012. "Bootstrap prediction mean squared errors of unobserved states based on the Kalman filter with estimated parameters," Computational Statistics & Data Analysis, Elsevier, vol. 56(1), pages 62-74, January.
  • Handle: RePEc:eee:csdana:v:56:y:2012:i:1:p:62-74

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    References listed on IDEAS

    1. Jesús Fernández-Villaverde & Juan F. Rubio-Ramírez & Thomas J. Sargent & Mark W. Watson, 2007. "ABCs (and Ds) of Understanding VARs," American Economic Review, American Economic Association, vol. 97(3), pages 1021-1026, June.
    2. Athanasios Orphanides & Simon van Norden, 2002. "The Unreliability of Output-Gap Estimates in Real Time," The Review of Economics and Statistics, MIT Press, vol. 84(4), pages 569-583, November.
    3. Tommaso Proietti & Alberto Musso & Thomas Westermann, 2007. "Estimating potential output and the output gap for the euro area: a model-based production function approach," Empirical Economics, Springer, vol. 33(1), pages 85-113, July.
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    5. James H. Stock & Mark W. Watson, 2007. "Erratum to "Why Has U.S. Inflation Become Harder to Forecast?"," Journal of Money, Credit and Banking, Blackwell Publishing, vol. 39(7), pages 1849-1849, October.
    6. Harvey, Andrew & Ruiz, Esther & Sentana, Enrique, 1992. "Unobserved component time series models with Arch disturbances," Journal of Econometrics, Elsevier, vol. 52(1-2), pages 129-157.
    7. Harvey, Andrew C. & Delle Monache, Davide, 2009. "Computing the mean square error of unobserved components extracted by misspecified time series models," Journal of Economic Dynamics and Control, Elsevier, vol. 33(2), pages 283-295, February.
    8. Frank Smets, 2002. "Output gap uncertainty: Does it matter for the Taylor rule?," Empirical Economics, Springer, vol. 27(1), pages 113-129.
    9. J. Durbin, 2002. "A simple and efficient simulation smoother for state space time series analysis," Biometrika, Biometrika Trust, vol. 89(3), pages 603-616, August.
    10. Alejandro Rodriguez & Esther Ruiz, 2009. "Bootstrap prediction intervals in state-space models," Journal of Time Series Analysis, Wiley Blackwell, vol. 30(2), pages 167-178, March.
    11. James H. Stock & Mark W. Watson, 2007. "Why Has U.S. Inflation Become Harder to Forecast?," Journal of Money, Credit and Banking, Blackwell Publishing, vol. 39(s1), pages 3-33, February.
    12. Douglas Staiger & James H. Stock & Mark W. Watson, 2001. "Prices, Wages and the U.S. NAIRU in the 1990s," NBER Working Papers 8320, National Bureau of Economic Research, Inc.
    13. Domenech, Rafael & Gomez, Victor, 2006. "Estimating Potential Output, Core Inflation, and the NAIRU as Latent Variables," Journal of Business & Economic Statistics, American Statistical Association, vol. 24, pages 354-365, July.
    14. Ray, W. D., 1989. "Rates of convergence to steady state for the linear growth version of a dynamic linear model (DLM)," International Journal of Forecasting, Elsevier, vol. 5(4), pages 537-545.
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    Cited by:

    1. Ng, Jason & Forbes, Catherine S. & Martin, Gael M. & McCabe, Brendan P.M., 2013. "Non-parametric estimation of forecast distributions in non-Gaussian, non-linear state space models," International Journal of Forecasting, Elsevier, vol. 29(3), pages 411-430.
    2. repec:eme:aecozz:s0731-905320150000035010 is not listed on IDEAS
    3. David Harris & Gael M. Martin & Indeewara Perera & Don S. Poskitt, 2017. "Construction and visualization of optimal confidence sets for frequentist distributional forecasts," Monash Econometrics and Business Statistics Working Papers 9/17, Monash University, Department of Econometrics and Business Statistics.
    4. Krieg, Sabine & van den Brakel, Jan A., 2012. "Estimation of the monthly unemployment rate for six domains through structural time series modelling with cointegrated trends," Computational Statistics & Data Analysis, Elsevier, vol. 56(10), pages 2918-2933.
    5. Pilar Poncela & Esther Ruiz, 2016. "Small- Versus Big-Data Factor Extraction in Dynamic Factor Models: An Empirical Assessment," Advances in Econometrics,in: Dynamic Factor Models, volume 35, pages 401-434 Emerald Publishing Ltd.


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