This paper analyses the recently suggested particle approach to filtering time series. We suggest that the algorithm is not robust to outliers for two reasons: the design of the simulators and the use of the discrete support to represent the sequentially updating prior distribution. Both problems are tackled in this paper. We believe we have largely solved the first problem and have reduced the order of magnitude of the second. In addition we introduce the idea of stratification into the particle filter which allows us to perform on-line Bayesian calculations about the parameters which index the models and maximum likelihood estimation. The new methods are illustrated by using a stochastic volatility model and a time series model of angles. Some key words: Filtering, Markov chain Monte Carlo, Particle filter, Simulation, SIR, State space. 1 1

This paper extends the class of stochastic volatility diffusions for asset returns to encompass Poisson jumps of time-varying intensity. We find that any reasonably descriptive continuous-time model for equity-index returns must allow for discrete jumps as well as stochastic volatility with a pronounced negative relationship between return and volatility innovations. We also find that the dominant empirical characteristics of the return process appear to be priced by the option market. Our analysis indicates a general correspondence between the evidence extracted from daily equity-index returns and the stylized features of the corresponding options market prices. MUCH ASSET AND DERIVATIVE PRICING THEORY is based on diffusion models for primary securities. However, prescriptions for practical applications derived from these models typically produce disappointing results. A possible explanation could be that analytic formulas for pricing and hedging are available for only a limited set of continuous-time representations for asset returns

This paper is concerned with the Bayesian estimation of non-linear stochastic differential equations when only discrete observations are available. The estimation is carried out using a tuned MCMC method, in particular a blocked Metropolis-Hastings algorithm, by introducing auxiliary points and using the Euler-Maruyama discretisation scheme. Techniques for computing the likelihood function, the marginal likelihood and diagnostic measures (all based on the MCMC output) are presented. Examples using simulated and real data are presented and discussed in detail.

We propose using the price range in the estimation of stochastic volatility models. We show theoretically, numerically, and empirically that range-based volatility proxies are not only highly efficient, but also approximately Gaussian and robust to microstructure noise. Hence range-based Gaussian quasi-maximum likelihood estimation produces highly efficient estimates of stochastic volatility models and extractions of latent volatility. We use our method to examine the dynamics of daily exchange rate volatility and find the evidence points strongly toward two-factor models with one highly persistent factor and one quickly mean-reverting factor. VOLATILITY IS A CENTRAL CONCEPT in finance, whether in asset pricing, portfolio choice, or risk management. Not long ago, theoretical models routinely assumed constant volatility ~e.g., Merton ~1969!, Black and Scholes ~1973!!. Today, however, we widely acknowledge that volatility is both time varying and predictable ~e.g., Andersen and Bollerslev ~1997!!, andstochastic volatility models are commonplace. Discrete- and continuous-time stochastic volatility models are extensively used in theoretical finance, empirical finance, and financial econometrics, both in academe and industry ~e.g., Hull and

This paper discusses and documents the algorithms of SsfPack 2.2. SsfPack is a suite of C routines for carrying out computations involving the statistical analysis of univariate and multivariate models in state space form. The emphasis is on documenting the link we have made to the Ox computing environment. SsfPack allows for a full range of different state space forms: from a simple time-invariant model to a complicated time-varying model. Functions can be used which put standard models such as ARMA and cubic spline models in state space form. Basic functions are available for ltering, moment smoothing and simulation smoothing. Ready-to-use functions are provided for standard tasks such as likelihood evaluation, forecasting and signal extraction. We show that SsfPack can be easily used for implementing, tting and analysing Gaussian models relevant to many areas of econometrics and statistics. Some Gaussian illustrations are given.

This paper shows that realised power variation and its extension we introduce here called realised bipower variation is somewhat robust to rare jumps. We show realised bipower variation estimates integrated variance in SV models --- thus providing a model free and consistent alternative to realised variance. Its robustness property means that if we have an SV plus infrequent jumps process then the di#erence between realised variance and realised bipower variation estimates the quadratic variation of the jump component. This seems to be the first method which can divide up quadratic variation into its continuous and jump components. Various extensions are given. Proofs of special cases of these results are given.

This paper proposes a new method for estimation of parameters in diffusion processes from

Stochastic differential equations often provide a convenient way to describe the dynamics of economic and financial data, and a great deal of effort has been expended searching for efficient ways to estimate models based on them. Maximum likelihood is typically the estimator of choice; however, since the transition density is generally unknown, one is forced to approximate it. The simulation-based approach suggested by Pedersen (1995) has great theoretical appeal, but previously available implementations have been computationally costly. We examine a variety of numerical techniques designed to improve the performance of this approach. Synthetic data generated by a CIR model with parameters calibrated to match monthly observations of the U.S. short-term interest rate are used as a test case. Since the likelihood function of this process is known, the quality of the approximations can be easily evaluated. On data sets with 1000 observations, we are able to approximate the maximum likelihood estimator with negligible error in well under one minute. This represents something on the order of a 10,000-fold reduction in computational effort as compared to implementations without these enhancements. With other parameter settings designed to stress the methodology, performance remains strong. These ideas are easily generalized to multivariate settings and (with some additional work) to latent variable models. To illustrate, we estimate a simple stochastic volatility model of the U.S. short-term interest rate.

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This paper investigates the empirical characteristics of investor risk aversion over equity return states by estimating a time-varying pricing kernel, which we call the empirical pricing kernel (EPK). We estimate the EPK on a monthly basis from 1991 to 1995, using S&P 500 index option data and a stochastic volatility model for the S&P 500 return process. We find that the EPK exhibits countercyclical risk aversion over S&P 500 return states. We also find that hedging performance is significantly improved when we use hedge ratios based the EPK rather than a time-invariant pricing kernel.