State space time series clustering using discrepancies based on the Kullback-Leibler information and the Mahalanobis distance

In this thesis, we consider the clustering of time series data; specifically, time series that can be modeled in the state space framework. Of primary focus is the pairwise discrepancy between two state space time series. The state space model can be formulated in terms of two equations: the state equation, based on a latent process, and the observation equation. Because the unobserved state process is often of interest, we develop discrepancy measures based on the estimated version of the state process. We compare these measures to discrepancies based on the observed data. In all, seven novel discrepancies are formulated. First, discrepancies derived from Kullback-Leibler (KL) information and Mahalanobis distance (MD) measures are proposed based on the observed data. Next, KL information and MD discrepancies are formulated based on the composite marginal contributions of the smoothed estimates of the unobserved state process. Furthermore, an MD is created based on the joint contributions of the collection of smoothed estimates of the unobserved state process. The cross trajectory distance, a discrepancy heavily influenced by both observed and smoothed data, is proposed as well as a Euclidean distance based on the smoothed state estimates. The performance of these seven novel discrepancies is compared to the often used Euclidean distance based on the observed data, as well as a KL information discrepancy based on the joint contributions of the collection of smoothed state estimates (Bengtsson and Cavanaugh, 2008). We find that those discrepancy measures based on the smoothed estimates of the unobserved state process outperform those discrepancy measures based on the observed data. The best performance was achieved by the discrepancies founded upon the joint contributions of the collection of unobserved states, followed by the discrepancies derived from the marginal contributions.