ssm_nlg  R Documentation 
Constructs an object of class ssm_nlg
by defining the corresponding
terms of the observation and state equation.
ssm_nlg( y, Z, H, T, R, Z_gn, T_gn, a1, P1, theta, known_params = NA, known_tv_params = matrix(NA), n_states, n_etas, log_prior_pdf, time_varying = rep(TRUE, 4), state_names = paste0("state", 1:n_states) )
y 
Observations as multivariate time series (or matrix) of length n. 
Z, H, T, R 
An external pointers (object of class 
Z_gn, T_gn 
An external pointers (object of class 
a1 
Prior mean for the initial state as object of class

P1 
Prior covariance matrix for the initial state as object of class

theta 
Parameter vector passed to all model functions. 
known_params 
A vector of known parameters passed to all model functions. 
known_tv_params 
A matrix of known parameters passed to all model functions. 
n_states 
Number of states in the model (positive integer). 
n_etas 
Dimension of the noise term of the transition equation (positive integer). 
log_prior_pdf 
An external pointer (object of class

time_varying 
Optional logical vector of length 4, denoting whether the values of Z, H, T, and R vary with respect to time variable (given identical states). If used, this can speed up some computations. 
state_names 
A character vector containing names for the states. 
The nonlinear Gaussian model is defined as
y_t = Z(t, α_t, θ) + H(t, θ) ε_t, (\textrm{observation equation})
α_{t+1} = T(t, α_t, θ) + R(t, θ)η_t, (\textrm{transition equation})
where ε_t \sim N(0, I_p), η_t \sim N(0, I_m) and α_1 \sim N(a_1, P_1) independently of each other, and functions Z, H, T, R can depend on α_t and parameter vector θ.
Compared to other models, these general models need a bit more effort from
the user, as you must provide the several small C++ snippets which define the
model structure. See examples in the vignette and cpp_example_model
.
An object of class ssm_nlg
.
# Takes a while on CRAN set.seed(1) n < 50 x < y < numeric(n) y[1] < rnorm(1, exp(x[1]), 0.1) for(i in 1:(n1)) { x[i+1] < rnorm(1, sin(x[i]), 0.1) y[i+1] < rnorm(1, exp(x[i+1]), 0.1) } pntrs < cpp_example_model("nlg_sin_exp") model_nlg < ssm_nlg(y = y, a1 = pntrs$a1, P1 = pntrs$P1, Z = pntrs$Z_fn, H = pntrs$H_fn, T = pntrs$T_fn, R = pntrs$R_fn, Z_gn = pntrs$Z_gn, T_gn = pntrs$T_gn, theta = c(log_H = log(0.1), log_R = log(0.1)), log_prior_pdf = pntrs$log_prior_pdf, n_states = 1, n_etas = 1, state_names = "state") out < ekf(model_nlg, iekf_iter = 100) ts.plot(cbind(x, out$at[1:n], out$att[1:n]), col = 1:3)
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