Maximum-Likelihood Estimation of Forecast and Observation Error Covariance Parameters. Part I: Methodology

The maximum-likelihood method for estimating observation and forecast error covariance parameters is described. The method is presented in general terms but with particular emphasis on practical aspects of implementation. Issues such as bias estimation and correction, parameter identifiability, estimation accuracy, and robustness of the method, are discussed in detail. The relationship between the maximum-likelihood method and generalized cross-validation is briefly addressed.