Hi all,
I have a standard local level model, but the disturbances are not independent:
y_t=μ_t+ε_t, μ_t+1=μ_t+η_t, E(ε_t η_t) =/= 0
In order to derive the Kalman filter, I rewrite this model in state space form
y_t=Z_t α_t+ε_t, ε_t~NID(0,H_t ),
α_(t+1)=T_t α_t+R_t η_t...