多元的线性回归
我把拟合 u t = K t x t + k t \mathbf{u}_t=\mathbf{K}_t\mathbf{x}_t+\mathbf{k}_t ut=Ktxt+kt的问题称之为多元线性回归,可能不太准确,我不知道具体怎么描述。其中 u t , k t ∈ R m \mathbf{u}_t,\mathbf{k}_t\in\mathbb{R}^m ut,kt∈Rm, x t ∈ R n \mathbf{x}_t\in\mathbb{R}^n xt∈Rn, K t ∈ R m × n \mathbf{K}_t\in\mathbb{R}^{m\times n} Kt∈Rm×n,在拟合的时候和时间 t t t无关,后面的描述省略。
运动最小二乘法,定义评价函数:
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\mathcal{J}=\sum_{i=1}^M\frac{1}{2}||\mathbf{u}^i-(\mathbf{K}\mathbf{x}^i+\mathbf{k})||^2
J=i=1∑M21∣∣ui−(Kxi+k)∣∣2
首先求:
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\frac{\partial\mathcal{J}}{\partial\mathbf{k}}=0
∂k∂J=0
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\frac{\partial\mathcal{J}}{\partial\mathbf{k}}= \sum_{i=1}^M(\mathbf{K}\mathbf{x}^i + \mathbf{k}-\mathbf{u}^i)=0
∂k∂J=i=1∑M(Kxi+k−ui)=0
整理得到:
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\begin{aligned} \mathbf{k}& =\frac{1}{M}\sum_{i=1}^M\mathbf{u}^i -\mathbf{K}\frac{1}{M}\sum_{i=1}^M\mathbf{x}^i\\ & = \bar{\mathbf{u}}-\mathbf{K}\bar{\mathbf{x}} \end{aligned}
k=M1i=1∑Mui−KM1i=1∑Mxi=uˉ−Kxˉ
再求:
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\frac{\partial\mathcal{J}}{\partial\mathbf{K}}=0
∂K∂J=0
即:
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\begin{aligned} \frac{\partial\mathcal{J}}{\partial\mathbf{K}}& =\sum_{i=1}^M(\mathbf{K}\mathbf{x}^i + \mathbf{k}-\mathbf{u}^i)(\mathbf{x}^i)^T \\ & =\sum_{i=1}^M(\mathbf{K}\mathbf{x}^i(\mathbf{x}^i)^T + \mathbf{k}(\mathbf{x}^i)^T-\mathbf{u}^i(\mathbf{x}^i)^T) \\ & = \sum_{i=1}^M(\mathbf{K}\mathbf{x}^i(\mathbf{x}^i)^T + ( \bar{\mathbf{u}}-\mathbf{K}\bar{\mathbf{x}})(\mathbf{x}^i)^T-\mathbf{u}^i(\mathbf{x}^i)^T) \\ & =\sum_{i=1}^M(\mathbf{K}(\mathbf{x}^i(\mathbf{x}^i)^T -\bar{\mathbf{x}}(\mathbf{x}^i)^T)-(\mathbf{u}^i-\bar{\mathbf{u}})(\mathbf{x}^i)^T)=0 \end{aligned}
∂K∂J=i=1∑M(Kxi+k−ui)(xi)T=i=1∑M(Kxi(xi)T+k(xi)T−ui(xi)T)=i=1∑M(Kxi(xi)T+(uˉ−Kxˉ)(xi)T−ui(xi)T)=i=1∑M(K(xi(xi)T−xˉ(xi)T)−(ui−uˉ)(xi)T)=0
第一步求导真的不确定,只能根据标量函数对“m乘n”矩阵求导即标量函数中对矩阵中的每个元素求导,得知求导后也是一个“m乘n”矩阵,根据标量函数对
整理可得:
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\mathbf{K}=(\sum_{i=1}^M(\mathbf{x}^i(\mathbf{x}^i)^T -\bar{\mathbf{x}}(\mathbf{x}^i)^T))^{-1}\sum_{i=1}^M(\mathbf{u}^i(\mathbf{x}^i)^T-\bar{\mathbf{u}}(\mathbf{x}^i)^T)
K=(i=1∑M(xi(xi)T−xˉ(xi)T))−1i=1∑M(ui(xi)T−uˉ(xi)T)
因为
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\sum_{i=1}^M\mathbf{u}^i\bar{\mathbf{x}}^T=(\sum_{i=1}^M\mathbf{u}^i)\bar{\mathbf{x}}^T=M\bar{\mathbf{u}}\bar{\mathbf{x}}^T=\sum_{i=1}^M\bar{\mathbf{u}}\bar{\mathbf{x}}^T
i=1∑MuixˉT=(i=1∑Mui)xˉT=MuˉxˉT=i=1∑MuˉxˉT
所以:
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\begin{aligned} \mathbf{K}& = (\sum_{i=1}^M(\mathbf{x}^i(\mathbf{x}^i)^T -\bar{\mathbf{x}}(\mathbf{x}^i)^T -\mathbf{x}^i\bar{\mathbf{x}}^T+\bar{\mathbf{x}}\bar{\mathbf{x}}^T))^{-1}\sum_{i=1}^M(\mathbf{u}^i(\mathbf{x}^i)^T-\bar{\mathbf{u}}(\mathbf{x}^i)^T-\mathbf{u}^i\bar{\mathbf{x}}^T + \bar{\mathbf{u}}\bar{\mathbf{x}}^T) \\ & = (\sum_{i=1}^M(\mathbf{x}^i-\bar{\mathbf{x}})((\mathbf{x}^i)^T-\bar{\mathbf{x}}^T))^{-1}\sum_{i=1}^M(\mathbf{u}^i-\bar{\mathbf{u}})((\mathbf{x}^i)^T-(\bar{\mathbf{x}})^T) \\ & = (\sum_{i=1}^M(\mathbf{x}^i-\bar{\mathbf{x}})((\mathbf{x}^i)-\bar{\mathbf{x}})^T)^{-1}\sum_{i=1}^M(\mathbf{u}^i-\bar{\mathbf{u}})((\mathbf{x}^i)-\bar{\mathbf{x}})^T \end{aligned}
K=(i=1∑M(xi(xi)T−xˉ(xi)T−xixˉT+xˉxˉT))−1i=1∑M(ui(xi)T−uˉ(xi)T−uixˉT+uˉxˉT)=(i=1∑M(xi−xˉ)((xi)T−xˉT))−1i=1∑M(ui−uˉ)((xi)T−(xˉ)T)=(i=1∑M(xi−xˉ)((xi)−xˉ)T)−1i=1∑M(ui−uˉ)((xi)−xˉ)T
总结一下:
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\begin{aligned} & \mathbf{K}= (\sum_{i=1}^M(\mathbf{x}^i-\bar{\mathbf{x}})((\mathbf{x}^i)-\bar{\mathbf{x}})^T)^{-1}\sum_{i=1}^M(\mathbf{u}^i-\bar{\mathbf{u}})((\mathbf{x}^i)-\bar{\mathbf{x}})^T \\ & \mathbf{k}= \bar{\mathbf{u}}-\mathbf{K}\bar{\mathbf{x}} \end{aligned}
K=(i=1∑M(xi−xˉ)((xi)−xˉ)T)−1i=1∑M(ui−uˉ)((xi)−xˉ)Tk=uˉ−Kxˉ
上面出现了错误,
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\mathbf{K} = \mathbb{R}^{n\times n}\times\mathbb{R}^{m\times n}
K=Rn×n×Rm×n
有没有老铁告诉我该怎么办?