Past exam of the mathematics course of the University of Cambridge / 2018 / iii / Paper 219 / 3 / iii / Solution

At the fitted hyperparameters, define $K=k_0(t,t)$, $K_{\ast \ast }=k_0(t^{\ast },t^{\ast })$, and $K_{\ast t}=k_0(t^{\ast },t)$, with the matrices formed by pairwise kernel evaluations. Conditional independence of observation noise and future latent values givesThe residual $f_{\ast }-K_{\ast t}{V}^{-1}y$ has zero covariance with $y$, so the joint normal law makes it independent of $y$. This derives the conditional multivariate normal distribution and the Gaussian process regression posterior:The covariance is a Schur complement and is positive semidefinite. When nonsingular, its joint density is $(2\pi {)}^{-M/2}|{\Sigma }_{\ast }{|}^{-1/2}\exp [-\frac{1}{2}(f_{\ast }-m_{\ast }{)}^T{\Sigma }_{\ast }^{-1}(f_{\ast }-m_{\ast })]$. Repeated phases can make it singular, in which case the displayed normal law is interpreted on its support.

This predicts the true latent light curve, so no future measurement variance is added. For noisy future observations, add their independent noise covariance to ${\Sigma }_{\ast }$. Fixing the hyperparameters omits their estimation uncertainty, as requested; integrating over their posterior would add it. The periodic model extrapolates by phase, even though all prediction times follow the observed times.