186 lines
7.1 KiB
Matlab
186 lines
7.1 KiB
Matlab
function [LIK,lik] = sequential_importance_particle_filter(ReducedForm,Y,start,ParticleOptions,ThreadsOptions, DynareOptions, Model)
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% Evaluates the likelihood of a nonlinear model with a particle filter (optionally with resampling).
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% Copyright © 2011-2022 Dynare Team
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%
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% This file is part of Dynare (particles module).
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%
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% Dynare is free software: you can redistribute it and/or modify
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% it under the terms of the GNU General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% Dynare particles module is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU General Public License for more details.
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%
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% You should have received a copy of the GNU General Public License
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% along with Dynare. If not, see <https://www.gnu.org/licenses/>.
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persistent init_flag
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persistent mf0 mf1
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persistent number_of_particles number_of_state_variables
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persistent sample_size number_of_observed_variables number_of_structural_innovations
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% Set default value for start
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if isempty(start)
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start = 1;
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end
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% Set flag for prunning
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pruning = ParticleOptions.pruning;
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% Get steady state and mean.
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steadystate = ReducedForm.steadystate;
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constant = ReducedForm.constant;
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state_variables_steady_state = ReducedForm.state_variables_steady_state;
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order = DynareOptions.order;
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% Set persistent variables (if needed).
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if isempty(init_flag)
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mf0 = ReducedForm.mf0;
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mf1 = ReducedForm.mf1;
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sample_size = size(Y,2);
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number_of_state_variables = length(mf0);
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number_of_observed_variables = length(mf1);
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number_of_structural_innovations = length(ReducedForm.Q);
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number_of_particles = ParticleOptions.number_of_particles;
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init_flag = 1;
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end
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if ReducedForm.use_k_order_solver
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dr = ReducedForm.dr;
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udr = ReducedForm.udr;
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else
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% Set local state space model (first order approximation).
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ghx = ReducedForm.ghx;
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ghu = ReducedForm.ghu;
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% Set local state space model (second order approximation).
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ghxx = ReducedForm.ghxx;
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ghuu = ReducedForm.ghuu;
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ghxu = ReducedForm.ghxu;
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ghs2 = ReducedForm.ghs2;
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if order == 3
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% Set local state space model (third order approximation).
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ghxxx = ReducedForm.ghxxx;
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ghuuu = ReducedForm.ghuuu;
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ghxxu = ReducedForm.ghxxu;
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ghxuu = ReducedForm.ghxuu;
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ghxss = ReducedForm.ghxss;
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ghuss = ReducedForm.ghuss;
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end
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end
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% Get covariance matrices.
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Q = ReducedForm.Q; % Covariance matrix of the structural innovations.
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H = ReducedForm.H; % Covariance matrix of the measurement errors.
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if isempty(H)
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H = 0;
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end
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% Initialization of the likelihood.
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const_lik = log(2*pi)*number_of_observed_variables +log(det(H)) ;
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lik = NaN(sample_size,1);
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% Get initial condition for the state vector.
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StateVectorMean = ReducedForm.StateVectorMean;
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StateVectorVarianceSquareRoot = chol(ReducedForm.StateVectorVariance)';%reduced_rank_cholesky(ReducedForm.StateVectorVariance)';
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if pruning
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StateVectorMean_ = StateVectorMean;
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StateVectorVarianceSquareRoot_ = StateVectorVarianceSquareRoot;
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end
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% Get the rank of StateVectorVarianceSquareRoot
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state_variance_rank = size(StateVectorVarianceSquareRoot,2);
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% Factorize the covariance matrix of the structural innovations
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Q_lower_triangular_cholesky = chol(Q)';
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% Set seed for randn().
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set_dynare_seed('default');
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% Initialization of the weights across particles.
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weights = ones(1,number_of_particles)/number_of_particles ;
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StateVectors = bsxfun(@plus,StateVectorVarianceSquareRoot*randn(state_variance_rank,number_of_particles),StateVectorMean);
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if pruning
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if order == 2
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StateVectors_ = StateVectors;
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state_variables_steady_state_ = state_variables_steady_state;
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mf0_ = mf0;
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elseif order == 3
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StateVectors_ = repmat(StateVectors,3,1);
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state_variables_steady_state_ = repmat(state_variables_steady_state,3,1);
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mf0_ = repmat(mf0,1,3);
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mask2 = number_of_state_variables+1:2*number_of_state_variables;
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mask3 = 2*number_of_state_variables+1:3*number_of_state_variables;
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mf0_(mask2) = mf0_(mask2)+size(ghx,1);
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mf0_(mask3) = mf0_(mask3)+2*size(ghx,1);
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else
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error('Pruning is not available for orders > 3');
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end
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end
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% Loop over observations
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for t=1:sample_size
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yhat = bsxfun(@minus,StateVectors,state_variables_steady_state);
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epsilon = Q_lower_triangular_cholesky*randn(number_of_structural_innovations,number_of_particles);
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if pruning
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yhat_ = bsxfun(@minus,StateVectors_,state_variables_steady_state_);
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if order == 2
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[tmp, tmp_] = local_state_space_iteration_2(yhat,epsilon,ghx,ghu,constant,ghxx,ghuu,ghxu,yhat_,steadystate,ThreadsOptions.local_state_space_iteration_2);
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elseif order == 3
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[tmp, tmp_] = local_state_space_iteration_3(yhat_, epsilon, ghx, ghu, ghxx, ghuu, ghxu, ghs2, ghxxx, ghuuu, ghxxu, ghxuu, ghxss, ghuss, steadystate, ThreadsOptions.local_state_space_iteration_3, pruning);
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else
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error('Pruning is not available for orders > 3');
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end
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else
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if ReducedForm.use_k_order_solver
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tmp = local_state_space_iteration_k(yhat, epsilon, dr, Model, DynareOptions, udr);
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else
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if order == 2
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tmp = local_state_space_iteration_2(yhat,epsilon,ghx,ghu,constant,ghxx,ghuu,ghxu,ThreadsOptions.local_state_space_iteration_2);
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elseif order == 3
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tmp = local_state_space_iteration_3(yhat, epsilon, ghx, ghu, ghxx, ghuu, ghxu, ghs2, ghxxx, ghuuu, ghxxu, ghxuu, ghxss, ghuss, steadystate, ThreadsOptions.local_state_space_iteration_3, pruning);
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else
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error('Order > 3: use_k_order_solver should be set to true');
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end
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end
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end
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%PredictedObservedMean = tmp(mf1,:)*transpose(weights);
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PredictionError = bsxfun(@minus,Y(:,t),tmp(mf1,:));
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%dPredictedObservedMean = bsxfun(@minus,tmp(mf1,:),PredictedObservedMean);
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%PredictedObservedVariance = bsxfun(@times,dPredictedObservedMean,weights)*dPredictedObservedMean' + H;
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%PredictedObservedVariance = H;
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if rcond(H) > 1e-16
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lnw = -.5*(const_lik+sum(PredictionError.*(H\PredictionError),1));
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else
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LIK = NaN;
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return
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end
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dfac = max(lnw);
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wtilde = weights.*exp(lnw-dfac);
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lik(t) = log(sum(wtilde))+dfac;
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weights = wtilde/sum(wtilde);
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if (ParticleOptions.resampling.status.generic && neff(weights)<ParticleOptions.resampling.threshold*sample_size) || ParticleOptions.resampling.status.systematic
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if pruning
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temp = resample([tmp(mf0,:)' tmp_(mf0_,:)'],weights',ParticleOptions);
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StateVectors = temp(:,1:number_of_state_variables)';
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StateVectors_ = temp(:,number_of_state_variables+1:end)';
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else
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StateVectors = resample(tmp(mf0,:)',weights',ParticleOptions)';
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end
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weights = ones(1,number_of_particles)/number_of_particles;
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elseif ParticleOptions.resampling.status.none
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StateVectors = tmp(mf0,:);
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if pruning
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StateVectors_ = tmp_(mf0_,:);
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end
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end
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end
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LIK = -sum(lik(start:end));
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