Rank-k modification methods for recursive least squares problems

In least squares problems, it is often desired to solve the same problem repeatedly but with several rows of the data either added, deleted, or both. Methods for quickly solving a problem after adding or deleting one row of data at a time are known. In this paper we introduce fundamental rank-k updating and downdating methods and show how extensions of rank-1 downdating methods based on LINPACK, Corrected Semi-Normal Equations (CSNE), and Gram-Schmidt factorizations, as well as new rank-k downdating methods, can all be derived from these fundamental results. We then analyze the cost of each new algorithm and make comparisons tok applications of the corresponding rank-1 algorithms. We provide experimental results comparing the numerical accuracy of the various algorithms, paying particular attention to the downdating methods, due to their potential numerical difficulties for ill-conditioned problems. We then discuss the computation involved for each downdating method, measured in terms of operation counts and BLAS calls. Finally, we provide serial execution timing results for these algorithms, noting preferable points for improvement and optimization. From our experiments we conclude that the Gram-Schmidt methods perform best in terms of numerical accuracy, but may be too costly for serial execution for large problems.